Page 1 YAMAHA SINGLE-AXIS ROBOT CONTROLLER TS-P User’s Manual ENGLISH YAMAHA MOTOR CO., LTD. IM Operations 882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054.Japan E113-Ver. 5.01 URL http://www.yamaha-motor.jp/robot/index.html...
Page 3 Introduction Introduction Thank you for purchasing the TS-P Controller (hereafter referred to simply as "Controller"). Please read this manual carefully to ensure correct and safe use of this controller. Main functions Function Explanation Reference Section Moves the robot slider to the specified position.
Page 4 Although every effort was made to ensure that this manual content is accurate and complete, please contact YAMAHA if errors, misprints, or omissions are found. For information related to the robot unit, support software, and other optional...
Page 5 Safety alert symbols and signal words Safety alert symbols and signal words The following safety alert symbols and signal words are used in this manual to describe safety concerns, handling precautions, prohibited or mandatory action and key points when using this product. Make sure you fully understand the meaning of each symbol and signal word and comply with the instructions.
Page 6 • Differences between a YAMAHA robot (robot and controller), and a robot system: A YAMAHA robot (robot and controller) is just one component in a robot system, and is not, in itself, a robot system. This is because a YAMAHA robot does not include the "end effectors" or "any equipment, devices, or sensors required for the robot to perform its tasks", as deﬁned in the EN10218-...
Page 7 CE marking 2. Safety measures Usage Conditions ■ The usage conditions which apply to the YAMAHA robot series are described below. • EMC (Electromagnetic Compatibility) YAMAHA robots are designed for industrial environments. (Applicable standard relating to the EMC Directive: Refer to the EN61000-6-2 Standard, Item 1 "Scope".)
Page 8 In order to ensure the customer's final product (entire system) complies with EMC directives, the customer should take appropriate EMC countermeasures. Typical EMC countermeasures for a single unit of YAMAHA robot are shown for your reference. The examples shown here are the countermeasures tested under our installation conditions.
Page 9 CE marking ● Countermeasure components (1) Surge absorber Always install an external surge absorber to protect the controller from surge noise that may be generated by lightning. A recommended surge absorber is shown below. • Recommended surge absorber Manufacturer : SOSHIN ELECTRIC CO., LTD. Type No.
Page 10 CE marking (2) Noise filter Always install an external noise filter to reduce conduction noise to the power supply line. A recommended noise filter is shown below. • Recommended noise filter Manufacturer : COSEL CO., LTD. Type No. : NAP-10-472 Dimensional outline (3.5) ±0.5...
Page 11 CE marking ・Recommended ferrite core 2 Manufacturer : TDK Type No. : ZCAT2132-1130 Dimensional outline 36.0±1 20.5±1 32.0±1 11.0±1 Unit: mm...
Page 12 Safety cautions Safety cautions The controller was designed and manufactured with ample consideration given to safety. However, incorrect handling or use may lead to injury, fire, electrical shocks, or other accidents or equipment failures. To prevent possible problems, be sure to observe the following safety cautions at all times.
Page 13 Safety cautions WARNING • Installation environment Use only in environments where the prescribed ambient temperature and humidity are maintained. Usage in other environments could cause electrical shocks, fires, malfunctions, and product deterioration. Do not use in environments which are subject to vibration and impact shocks, electromagnetic interference, electrostatic discharges, and radio frequency interference.
Page 14 Safety cautions • Wiring and connections Always shut off the power to the controller before performing wiring work and connecting cables. Failing to do so could result in electrical shocks and equipment failure. When connecting cables, use care to avoid subjecting the connectors to impact shocks or excessive loads.
Page 15 Immediately turn off the power if abnormal odors, sounds, or smoke are noticed during operation. Failing to do so could result in electrical shocks, fires, or equipment failure. Stop operation immediately, and contact your YAMAHA representative. • Maintenance and inspection Perform maintenance and inspection tasks only when instructions for doing so are provided by YAMAHA.
Page 16 Safety cautions CAUTION Use the controller and robot only in the prescribed combinations. Unsuitable combinations could result in fires and equipment failure. Save the controller's internal data to an external memory device. The controller's internal data could be unexpectedly lost, and should therefore be backed up to an external device.
Page 17 Warranty Warranty For information on the product warranty, please contact your local agent where you purchased your product.
Page 18 MEMO...
Page 19: Table Of Contents
Contents Chapter 1 Overview 1.1 Unpacking check 1.2 Part names and functions 1.3 System configuration 1.4 Installation and operation sequence Chapter 2 Installation and wiring 2.1 Installation method 2.1.1 Controller main body 2.1.2 Regenerative unit (RGT) 2.1.3 Regenerative unit (RGU-2) 2.2 Installation conditions 2.3 Wiring 2.3.1 Power supply connection...
Page 20 3.2.2 "Custom setting" type 3.3 Point data details 3.4 Parameter data 3.4.1 Parameter list 3.4.2 Parameter details 3-12 Chapter 4 I/O signal functions 4.1 I/O specifications 4.1.1 I/O specifications 1 (NPN and PNP type) 4.1.2 I/O specifications 2 (CC-Link type) 4.1.3 I/O specifications 3 (DeviceNet type) 4.2 I/O signal list 4.3 I/O signal details...
Page 21 Chapter 6 Troubleshooting 6.1 Alarm groups 6.2 Alarm recording function 6.3 Alarm list 6.4 Alarms: Possible causes and actions Chapter 7 Specifications 7.1 TS-P specifications 7.1.1 Basic specifications 7.1.2 Dimensional outlines 7.2 I/O interface specifications 7.2.1 NPN 7.2.2 PNP 7.2.3 CC-Link 7.2.4 DeviceNet...
Page 22 7.3.1 Basic specifications 7.3.2 Dimensional outlines (TS-P with TS-Monitor) 7.4 Regenerative unit specifications 7.4.1 Dimensional outlines (RGT) 7.4.2 Dimensional outlines (RGU-2) HT1 Operation Guide Introduction 1. What the HT1 does 1.1 HT1 panel layout 1.2 Connecting to the external safety circuit (HT1-D) 2.
Page 23 7.3 Run monitor H-39 7.4 Alarm display H-40 7.5 Warning display H-41 7.6 Message display H-42 7.7 Alarm record display H-43 7.8 Information display H-44 8. Other functions H-45 8.1 Operation mode H-45 8.2 Setting mode H-46 8.2.1 Changing the display language H-46 9.
Page 24 Parameter data reading (?K) C-15 Status data reading (?D) C-16 Input/output information reading (?IN, ?INB, ?OUT, ?OUTB) C-17 Word input/output information reading (?WIN, ?WOUT) C-18 Option information reading (?OPT, ?OPTB) C-19 Alarm/warning information reading (?ALM, ?WARN) C-20 Daisy Chain Guide Introduction 1.
Page 25 Chapter 1 Overview Contents 1.1 Unpacking check 1.2 Part names and functions 1.3 System configuration 1.4 Installation and operation sequence 1-4...
Page 27: Chapter 1 Overview
I/O cable 1 piece For NPN and PNP The accessories vary according to the shipment configuration. For details, contact YAMAHA or the sales outlet. 1.2 Part names and functions Part names and functions • Power supply connector • Status indicator lamps...
Page 28 1.2 Part names and functions Part names (TS-Monitor) LCD panel ● Displays various statuses, current position, and alarm information. button, button ● Changes the screen or performs various operations on the SETUP screen. COM1 • Do not push or strike the LCD panel with a sharp or hard object. Doing so might cause the LCD panel to break.
Page 29: System Configuration
1.3 System configuration 1.3 System configuration System configuration diagram • HT1 or support software TS-Manager The HT1 and support software (TS-Manager) and connection cable are optional items. FUNC STOP • RS-232C control COM1 Personal computer, etc. 200V CHARGE Personal computer, etc. MOTOR •...
Page 30: Installation And Operation Sequence
1.4 Installation and operation sequence 1.4 Installation and operation sequence The basic sequence from controller installation to actual operation is shown below. Chapter 2 ”Installation and wiring” Installation Cable and connector wiring · and connection Ground connection · Building the "emergency stop" circuit ·...
Page 31 Chapter 2 Installation and wiring Contents 2.1 Installation method 2.1.1 Controller main body 2.1.2 Regenerative unit (RGT) 2.1.3 Regenerative unit (RGU-2) 2.2 Installation conditions 2.3 Wiring 2.3.1 Power supply connection 2.3.2 Malfunction prevention measures 2.4 Connecting the robot 2.5 Connecting the communication unit 2-10 2.6 Connecting the regenerative unit 2-13 2.6.1 Connecting the RGT 2-13...
Page 33: Chapter 2 Installation And Wiring
2.1 Installation method 2.1 Installation method 2.1.1 Controller main body Use the mounting screw holes to install the controller on a vertical wall in the manner shown below. Installation Installation screws ■ Use the following screw type for installation. Mounting Area Thickness Hole Dia.
Page 34: Regenerative Unit (Rgt)
2.1 Installation method 2.1.2 Regenerative unit (RGT) Use the back plate of the RGT to install it on a vertical wall in the manner shown below. Installation Back plate Installation screws ■ Use the following screw type for installation. Mounting Area Thickness Hole Dia.
Page 35: Installation Conditions
2.2 Installation conditions 2.2 Installation conditions Installation location ■ Install the controller inside the control panel. Installation direction ■ Install the controller on a vertical wall. Surrounding space ■ 20mm Install the controller in a well ventilated location, or more with at least 20mm of space on all sides of the controller (see the figure at right).
Page 36: Wiring
2.3 Wiring 2.3 Wiring 2.3.1 Power supply connection Power supply connection examples ■ • For 200VAC power supply: Controller AC IN Wiring breaker Electromagnetic contactor Noise filter 200VAC Surge absorber • For 100VAC power supply: Controller AC IN Wiring breaker Electromagnetic Noise filter contactor...
Page 37 2.3 Wiring Power supply connector terminal names and functions ■ Power supply connector (TS-P 205, 210, 220 200VAC specs.) Signal Name Description Main power input 200 to 230VAC 10%, 50/60Hz ± Control power input 200 to 230VAC 10%, 50/60Hz ±...
Page 38 2.3 Wiring Ground terminal ■ The controller must be grounded to prevent electrical shocks in case of electrical leakage, and to prevent equipment malfunctions due to electrical noise. A Class D or higher grounding (grounding resistance of 100 or less) is required. Ω...
Page 39: Malfunction Prevention Measures
2.3 Wiring Installing an electromagnetic contactor ■ In order to flexibly accommodate the various safety categories required by customers, this controller is not equipped with an internal main power shutoff circuit. Please select the products that meet the required safety category, and always install an electromagnetic contactor on the main power supply side to configure an main power shutoff circuit.
Page 40: Connecting The Robot
2.4 Connecting the robot 2.4 Connecting the robot Connect the robot cables to the robot I/O connector on the controller's front face, and to the motor connector. Connection method ■ Connecting the robot Controller Robot I/O connector Motor connector COM1 200V CHARGE MOTOR...
Page 41 2.4 Connecting the robot Robot I/O connector signal table ■ Pin No. Signal Name Description PS + Position SIN input (+) PS – Position SIN input (–) PC + Position COS input (+) PC – Position COS input (–) Frame ground Linear scale Z + Z –...
Page 42: Connecting The Communication Unit
2.5 Connecting the communication unit 2.5 Connecting the communication unit The controller can be operated from the HT1 (Handy Terminal) or a communication device with the RS-232C interface, such as a personal computer. The HT1 is an optional item. · ·...
Page 43 2.5 Connecting the communication unit Connecting the controller to a communication device ■ Make this connection by using the optional communication cable for connection to a communication device, such as a personal computer. Communication device connection Communication connector 1 (COM1) Personal computer, etc.
Page 44 2.5 Connecting the communication unit Connecting a dummy connector ■ The provided dummy connector must be plugged into the COM1 connector when operating the controller without connecting it to a communication unit. COM1 dummy connector COM1 200V CHARGE MOTOR RGEN Dummy connector Controller An emergency stop occurs if the communication cable (or Handy Terminal cable) is...
Page 45: Connecting The Regenerative Unit
The regenerative unit absorbs regenerative current produced during motor speed reduction and radiates it as heat. A regenerative unit is required when operating certain robot models specified by YAMAHA or when handling large-inertia loads. Use the YAMAHA-specified dedicated cable to connect a regenerative unit to the controller.
Page 46: Connecting The Rgu-2
2.6 Connecting the regenerative unit 2.6.2 Connecting the RGU-2 The following explains how to connect the RGU-2. Connecting the RGU-2 RGU-2 Controller 20mm or more COM1 200V CHARGE MOTOR Dedicated cable RGEN · The power must be off when connecting the regenerative unit. ·...
Page 47: Connecting The I/O Signals
2.7 Connecting the I/O signals 2.7 Connecting the I/O signals Two types of I/O signal connections (I/O and EXT I/O) are provided for connection to external device such as a PLC. I/O wiring diagram Controller I/O（NPN） DC24V +COM I/O power + common POUT0 ・...
Page 48: Connecting The Ext Connector
2.8 Connecting the EXT connector 2.8 Connecting the EXT connector 2.8.1 EXT connector wiring The EXT connector provides functions for configuring safety circuits, including the robot. Connecting to the EXT connector Controller EXT connector (Bottom face) Always grasp the connector body when plugging in and unplugging the cable. CAUTION EXT connector wiring method ■...
Page 49: Ext Connector Signal Names And Functions
2.8 Connecting the EXT connector [Using a flat-blade screwdriver] Insert the screwdriver into the connector's top slot and press downward while inserting the stripped wire into the wire port. · Perform the above wiring with the EXT connector removed from the controller. ·...
Page 50 2.8 Connecting the EXT connector • Internal power for emergency stop input (ES+), and emergency stop READY signal (ES-) These signals are used by the external safety circuit (e.g., safety enclosure, manual switch, etc.) in order to perform robot emergency stops. Signal Name Description Type...
Page 51: Circuit Details
2.8 Connecting the EXT connector 2.8.3 Circuit details An EXT connector and host unit connection example is shown below. Controller COM1 Handy Terminal Status Internal Internal power EXT connector External "emergency External stop" External 24V In order to ﬂexibly accommodate the various safety categories required by customers, this controller is not equipped with an internal main power shutoff circuit.
Page 52 2.8 Connecting the EXT connector Emergency stop circuit for daisy chain connection ■ Controller Controller Controller COM1 Handy Terminal status status status LC1D09BD LC1D09BD LC1D09BD Internal GND Internal GND Internal GND Internal Internal Internal power power power External 0V External 0V External 0V External 24V External 24V...
Page 53: Connecting The I/O Unit
2.9 Connecting the I/O unit 2.9 Connecting the I/O unit Parallel I/O (NPN type and PNP type) ■ Connecting a parallel I/O Controller I/O connector COM1 200V CHARGE MOTOR RGEN • Use care to avoid incorrect terminal connections and short-circuits between terminals when performing the wiring work.
Page 54 2.9 Connecting the I/O unit NPN type I/O circuit details ■ [Input circuit] +COM 24VDC 4.7kΩ Input Internal Logic circuit circuit -COM Type : DC input (plus common type) Photo-coupler isolation format Load : 24VDC ± 10%, 5.1mA OFF voltage :19.6Vmin (1.0mA) ON voltage :4.9Vmax (4.0mA) [Output circuit] +COM...
Page 55 2.9 Connecting the I/O unit PNP type I/O circuit details ■ [Input circuit] +COM Input Internal Logic circuit circuit 24VDC 4.7k -COM Type : DC input (minus common type) Photo-coupler isolation format Load : 24VDC ± 10%, 5.5mA OFF voltage :19.6Vmin (4.5mA) ON voltage :4.9Vmax (1.1mA) [Output circuit] +COM...
Page 56 2.9 Connecting the I/O unit CC-Link ■ • Terminal arrangement and connector specifications Name 5 4 3 2 1 • Connection method Controller CC-Link connector COM1 200V CHARGE MOTOR RGEN Jump socket The CC-Link unit supports CC-Link Ver.1.10. The use of Ver.1.10 compatible CC-Link cable eliminates some restrictions which apply to items such as the cable length between nodes, etc.
Page 57 2.9 Connecting the I/O unit DeviceNet ■ • Terminal array and connector specifications Name (Black) CAN_L (Blue) Shield CAN_H (White) 1 2 3 4 5 (Red) • Connection method Controller DeviceNet connector COM1 200V CHARGE MOTOR RGEN 2-25 Chapter 2 Installation and wiring...
Page 58: Safety Circuit Construction Example
2.10 Safety circuit construction example 2.10 Safety circuit construction example This section describes category-specific safety circuit configuration examples using a Handy Terminal which has an ENABLE switch. Customers should install the appropriate safety measures for their system by referring to the safety circuits shown in 2.10.2, "Circuit configuration examples", in order to use single-axis robots more safely.
Page 59: Circuit Configuration Examples
2.10 Safety circuit construction example 2.10.2 Circuit configuration examples The following shows category-specific safety circuit configuration examples using a Handy Terminal which has an ENABLE switch. Customers should install the appropriate safety measures for their system by referring to these safety circuit configuration examples in order to use single-axis robots more safely.
Page 60 2.10 Safety circuit construction example TIP: For Handy Terminal without an ENABLE switch (Category B) Emergency stop COM1 Controller MPRDY E-STOP Status Status AC IN Internal +24V External emergency stop 24V_GND +24V 2-28 Chapter 2 Installation and wiring...
Page 61 2.10 Safety circuit construction example Category specific safety circuit construction examples ■ The following safety circuit construction examples apply for safety categories 2 to 4. (1) Safety category specific safety circuit construction examples For category 4 AC IN AC OUT Reset switch SRL1 T31 T32...
Page 62 2.10 Safety circuit construction example For category 3 AC IN AC OUT Reset switch SRL1 T31 T32 +24V +24V MPRDY1 Maintenance switch MPRDY2 Maintenance 11 Input 1 Maintenance 12 Maintenance 21 Input 2 Maintenance 22 SRL2 Door switch 13 23 T31 T32 Maintenance 11 Input 1 Maintenance 12...
Page 63 2.10 Safety circuit construction example For category 2 AC IN AC OUT Reset switch SRL1 +24V +24V MPRDY1 Maintenance switch MPRDY2 Maintenance 11 Input 1 Maintenance 12 SRL2 Door switch T31 T32 Maintenance 11 Input 1 Maintenance 12 S_ES2 External emergency stop Input 1 SAFETY HT1-D emergency stop...
Page 64 2.10 Safety circuit construction example (2) Circuit operation overview During automatic operation Main power (motor drive power) is supplied only when all the following conditions are satisfied. Conditions • The maintenance mode switch's NC contact is OFF (open). • The door switch's NC contact is ON (closed). •...
Page 65 Chapter 3 Data setting Contents 3.1 Data overview 3.2 Point data 3.2.1 "Standard setting" type 3.2.2 "Custom setting" type 3.3 Point data details 3.4 Parameter data 3.4.1 Parameter list 3.4.2 Parameter details 3-12...
Page 67: Chapter 3 Data Setting
3.1 Data overview 3.1 Data overview Point data and parameter data settings must be specified in order to operate a robot from a TS series controller. Point data ■ The point data used in positioning operations includes items such as the "RUN type", "Position", and "Speed", etc.
Page 68: Point Data
3.2 Point data 3.2 Point data The point data includes items such as the "RUN type", "Position", and "Speed", etc. Point data item list ■ P1 to P255 Item Description RUN type Specifies the positioning operation pattern. Position Specifies the positioning target position or movement amount. Speed Specifies the positioning speed.
Page 69: Standard Setting" Type
3.2 Point data 3.2.1 "Standard setting" type The optimum acceleration is automatically set simply by specifying the desired payload. Speed and acceleration concept Speed Specified as a percentage of the max. "Speed" = 100% speed for each robot. "Accel." = 100% "Decel.
Page 70: Custom Setting" Type
3.2 Point data 3.2.2 "Custom setting" type This setting type allows a more detailed positioning operation. Speed and acceleration concept Speed The speed is specified in "mm/s" units. "Speed" = 600.00 (mm/s) The max. permissible setting value is the max. accel. for each robot type. "Accel."...
Page 71: Point Data Details
3.3 Point data details 3.3 Point data details This section explains the details of each point data item. 1: RUN type Specifies the positioning operation pattern. For positioning operation details, see section 5.3 "Positioning operation". 1. ABS 2. INC Positioning movement to an origin-point Positioning movement occurs to a specified keyed target position occurs.
Page 72 3.3 Point data details 2: Position Specifies the positioning target position or movement amount. When the "RUN type" is specified as "ABS (absolute position) · ........Target position. · When the "RUN type" is specified as "INC (relative position) ........Movement amount from current position. The illustration below shows a positioning example when a "Position = 100.000 (mm)"...
Page 73 3.3 Point data details 6: Push Specifies the electrical current limit value during a push operation. The push force is specified as a percentage (%) of each robot's rated current. A 100% "push force" is equal to the rated current, and the thrust generated by the rated current is called the "rated thrust".
Page 74 3.3 Point data details 10: Jump Specifies the next point No. when movement to a next operation is to occur after a positioning completion. If this setting is specified as "0", there is no movement to a next point (operation ends). In merge operations, this setting specifies the merge destination point No.
Page 75: Parameter Data
3.4 Parameter data 3.4 Parameter data The 4 types of parameter data are shown below. Type Description These parameters are required for robot operation, and they RUN parameter include "soft limit" and "zone" settings. I/O parameter These parameters are for terminal assignment and I/O functions. These parameters are for optional settings (CC-Link and DeviceNet, Option parameter etc.), and include the "node No."...
Page 76 3.4 Parameter data • Return-to-origin Name Setting / Setting Range Units Default Restart Depends on Origin speed 0.01 to 100.00 mm/s robot type Depends on Origin dir. 0: CCW direction; 1: CW direction robot type Origin coordi. 0: Standard; 1: Reversed Origin shift -9999.999 to 9999.999 0.000...
Page 77 3.4 Parameter data • CC-Link Name Setting / Setting Range Units Default Restart Node 1 to 64 Required 0: 156Kbps 1: 625Kbps Transmission 2: 2.5Mbps Required rate 3: 5Mbps 4: 10Mbps • DeviceNet Name Setting / Setting Range Units Default Restart Node 0 to 63...
Page 78: Parameter Details
3.4 Parameter data 3.4.2 Parameter details The parameters described below can be adjusted to conform to the actual application and usage conditions. RUN parameters ■ • Positioning related parameters Setting Range Default Units Restar Soft limit (-) Depends on Soft limit (+) -9999.999 to 9999.999 robot type Function...
Page 79 3.4 Parameter data Setting Range Default Units Restart Zone (-) Zone (+) -9999.999 to 9999.999 0.000 Function Specifies the zone output (ZONE) range's upper and lower limits. For zone output details, see section 5.7.2 "Zone output function". Setting Range Default Units Restart Speed override...
Page 80 3.4 Parameter data Setting Range Default Units Restart Origin Coordi. 0 to 1 Function Specifies the coordinate system polarity. Settings Setting Value Description Standard (Plus-polarity is opposite direction from return-to-origin direction.) Reverse (Plus-polarity is same direction as return-to-origin direction) Setting Range Default Units Restart...
Page 81 3.4 Parameter data I/O parameters ■ • Terminal assignment related parameters Name Setting / Setting Range Default Units Restart 0 to 8 Required OUT0 select 0 to 8 Required OUT1 select 0 to 8 Required OUT2 select 0 to 8 Required OUT3 select Function...
Page 82 3.4 Parameter data Setting Range Default Units Restart SERVO sequence 0 to 1 Function Specifies the SERVO input's servo ON/OFF conditions. Settings Setting Value Description Edge (servo ON at leading edge, servo OFF at trailing edge) Level (ON: servo on; OFF: servo off) Setting Range Default Units...
Page 83 3.4 Parameter data Setting Range Default Units Restart Max. payload accel. 1 Function Specifies the maximum payload acceleration defined by the "Payload 1" (K76) parameter. This is a "read only" parameter. Setting Range Default Units Restart Payload 2 Depends on 0 to (depends on robot type) …...
Page 84 3.4 Parameter data CC-Link ■ Setting Range Default Units Restart CC-Link node 1 to 64 Required Function Specifies the CC-Link communication node. Setting Range Default Units Restart CC-Link speed 0 to 4 Required Function Specifies the CC-Link baud rate. Settings Setting Value Description 156Kbps...
Page 85 Chapter 4 I/O signal functions Contents 4.1 I/O specifications 4.1.1 I/O specifications 1 (NPN and PNP type) 4.1.2 I/O specifications 2 (CC-Link type) 4.1.3 I/O specifications 3 (DeviceNet type) 4.2 I/O signal list 4.3 I/O signal details 4.3.1 Input signal details 4.3.2 Output signal details...
Page 87: Chapter 4 I/O Signal Functions
4.1 I/O specifications 4.1 I/O specifications The TS series allows positioning and push operations to be controlled from a host unit such as a PLC, etc., by way of an I/O interface. The I/O specifications for the I/ O interface are shown below. (Selected at the time of purchase.) I/O Specification Explanation 16 input points, 24VDC...
Page 88: I/O Specifications 2 (Cc-Link Type)
4.1 I/O specifications 4.1.2 I/O specifications 2 (CC-Link type) Operation occurs as a CC-Link remote device station, on a one-unit to one-station basis. "Station No." and "baud rate" settings must be speciﬁed in order for the TS series to be recognized as remote station in the CC-Link system.
Page 89 4.1 I/O specifications Remote registers (word I/O) ■ Remote commands can be executed by using the 4-word input and 4-word output remote registers. Inputs (Master Remote) Output (Remote Master) Address Signal Name Description Address Signal Name Description RWwn WIN0 Execution command RWrn WOUT0 Status...
Page 90: I/O Specifications 3 (Devicenet Type)
4.1 I/O specifications 4.1.3 I/O specifications 3 (DeviceNet type) Operate as slave stations, with each unit occupying 6 input and 6 output channels. MAC ID and baud rate settings are required in order for TS series to be properly recognized as a slave station in the DeviceNet system.
Page 91 4.1 I/O specifications Remote registers (word I/O) ■ Remote commands can be executed by using the 4-word input and 4-word output areas. Inputs (Master Remote) Output (Remote Master) Channel No. Signal Name Description Channel No. Signal Name Description WIN0 Execution command WOUT0 Status WIN1...
Page 92: I/O Signal List
4.2 I/O signal list 4.2 I/O signal list A list of the I/O signals is given below. For details regarding each signal, refer to section 4.3 "I/O signal details". Type Signal Name Meaning Description · Specifies the point No. for the positioning operation. PIN0 to Point No.
Page 93: I/O Signal Details
4.3 I/O signal details 4.3 I/O signal details This section explains the I/O signals in detail. 4.3.1 Input signal details PIN0 to PIN7 (Point No. Select) ■ ） These inputs are read as 8-bit binary code Point Nos. when the START and TEACH commands are executed.
Page 94 4.3 I/O signal details START ■ This input begins positioning to the point data specified by the PIN0 to PIN7 point No. select input. This input is enabled only when the MANUAL mode is OFF. NOTE TEACH ■ This input sets (teaches) the current position at the point data position specified by PIN0 to PIN7 (point No.
Page 95: Output Signal Details
4.3 I/O signal details 4.3.2 Output signal details POUT0 to POUT7 (point No. output) ■ Outputs the current positioning operation's point No. as a binary output. When an alarm occurs, these signals output the alarm No. as a binary output. •...
Page 96 4.3 I/O signal details /ALM ■ This signal is ON during a normal status, and switches OFF when an alarm occurs. SRV-S ■ This signal is ON while a "servo ON" status exists, and switches OFF when a "servo OFF" status occurs. PZONE ■...
Page 97 Chapter 5 Operation Contents 5.1 Operation procedure 5.1.1 Overall operation timing chart 5.1.2 Alarm occurrence and clearing 5.2 Origin search (return-to-origin) 5.2.1 Origin point detection method 5.2.2 Origin point and coordinates relationship 5.2.3 Return-to-origin timing chart 5.3 Positioning operation 5.3.1 Basic operation 5.3.2 Positioning timing chart 5-13 5.3.3 Positioning merge operation...
Page 98 5.6 Operation modes 5-38 5.7 Other functions 5-39 5.7.1 Soft limit function 5-39 5.7.2 Zone output function 5-39 5.7.3 Alarm No. output function 5-40 5.7.4 Changing the payload 5-40 5.7.5 Magnetic pole position estimation 5-41 5.7.6 LED status indicators 5-41 5.8 TS-Monitor (Option) 5-42 5.8.1 Opening or closing the TS-Monitor...
Page 99: Chapter 5 Operation
5.1 Operation procedure 5.1 Operation procedure 5.1.1 Overall operation timing chart The operation timing chart from "power ON" to the "positioning operation" is shown below. Control power (L1, N1) Initial processing Main power READY (MPRDY) Operation end (END) Emergency stop (E-STOP) Main power (L, N)
Page 100 5.1 Operation procedure (9) The PIN0 to PIN7 inputs occur. (10) The START input switches ON after the Td delay period elapses. (11) The END signal switches OFF when positioning begins, and BUSY switches ON. (12) The START input switches OFF. (13) The END signal switches ON when positioning ends, and BUSY switches OFF.
Page 101: Alarm Occurrence And Clearing
5.1 Operation procedure 5.1.2 Alarm occurrence and clearing The operation timing chart from "alarm occurrence" to "alarm clear" is shown below. Point No. select Setting Setting (PIN0 to PIN7) Point No. output Alarm No. Alarm No. (POUT0 to POUT7) Error occurrence Error occurrence Alarm (/ALM)
Page 102: Origin Search (Return-To-Origin)
5.2 Origin search (return-to-origin) 5.2 Origin search (return-to-origin) An origin point must be determined in order for this controller to operate a robot in a single- axis coordinate system. This operation is called an "origin search" (or "return-to-origin"). Performing a return-to-origin sets the robot's coordinates and enables positioning. 5.2.1 Origin point detection method The origin point can be detected by any of the following methods.
Page 103 5.2 Origin search (return-to-origin) Sensor method ■ Movement in the return-to-origin direction occurs when a return-to-origin begins, and movement stops when the sensor detects the origin point dog. A return-to- origin end status is then established. Sensor detection Return-to-origin direction (K14) = 0 (CCW) Return-to-origin direction (K14) = 1 (CW) Sensor Sensor...
Page 104 5.2 Origin search (return-to-origin) When the sensor method is used to detect the origin point and the sensor ・ turns on during absolute search movement When an absolute search (return-to-origin) begins, the robots starts moving toward the origin point. When the origin sensor detects the origin dog, the robot moves in the direction opposite to the origin point and reads phase Z which is magnetized in the linear scale.
Page 105: Origin Point And Coordinates Relationship
5.2 Origin search (return-to-origin) 5.2.2 Origin point and coordinates relationship Coordinates are determined in accordance with the return-to-origin direction. The opposite direction from the return-to-origin direction is the "plus" direction. This direction (coordinate) setting can be reversed by changing the K15 ("Origin Coordi.") parameter setting.
Page 106: Return-To-Origin Timing Chart
5.2 Origin search (return-to-origin) 5.2.3 Return-to-origin timing chart Return-to-origin (ORG) Operation-in-progress (BUSY) Return-to-origin end status (ORG-S) Operation end (END) (1) The ORG input switches ON. (2) When the return-to-origin begins, the END signal switches OFF, and BUSY switches ON. (3) When ORG-S switches ON, the ORG input switches OFF. (4) BUSY switches OFF, and END switches ON.
Page 107: Positioning Operation
5.3 Positioning operation 5.3 Positioning operation A positioning operation can be performed by creating the required point data ("RUN type", "Position", "Speed", "Accel.", data, etc.), specifying the desired Point Nos. at PIN0 to PIN7 (point No. select), and then executing the START command input. Positioning can be executed as absolute position movement (ABS), as relative position movement (INC), or by a "push"...
Page 108 5.3 Positioning operation Setting the "Speed", "Accel.", and "Decel." data ■ (1) When using the "Standard setting" point type The "Speed" and "Accel." settings are specified as a percentage of the optimal positioning speed and acceleration values for each robot type, based on that robot's maximum speed and maximum payload acceleration values.
Page 109 5.3 Positioning operation Maximum payload acceleration and the payload ■ The maximum payload acceleration varies according to the payload setting. The optimum "maximum payload acceleration" is determined based on the robot's registered payload weight. Two "maximum payload acceleration" settings can be selected by "flag"...
Page 110 5.3 Positioning operation Acceleration S-curve ■ The TS series features an S-curve function (standard item) to ensure smooth acceleration/deceleration. This results in a maximum acceleration which is 1.4 times that of a trapezoidal acceleration/deceleration format. Speed Max. accel. Time 5-12 Chapter 5 Operation...
Page 111: Positioning Timing Chart
5.3 Positioning operation 5.3.2 Positioning timing chart The timing chart for positioning operations is shown below. For "normal end" （） Point No. select Setting (PIN0 to PIN7) Response Point No. output (POUT0 to POUT7) Positioning operation Start (START) Td 5ms Operation-in-progress (BUSY) Operation end...
Page 112 5.3 Positioning operation Point No. outputs ■ An answer-back for the point Nos. used in the positioning operation occurs at the POUT0 to POUT7 point No. outputs. This output can be set to occur "WITH" (at movement start), or "AFTER" (at positioning end) by the K25 (POUT select) I/O parameter.
Page 113: Positioning Merge Operation
5.3 Positioning operation 5.3.3 Positioning merge operation The positioning movement speed can be changed while in progress by performing positioning in the merge operation mode. The figure below shows an example of the following merge operation: "operation 1 (P1 positioning) operation 2 (P2 positioning) operation 3 (P3 positioning).
Page 114 5.3 Positioning operation (2) When the acceleration (deceleration) distance required to reach the merge destination speed is insufficient: Speed Desirable acceleration Time Operation 2 Operation 1 The inadequate acceleration and deceleration times in the above examples could hinder robot operation. 5-16 Chapter 5 Operation...
Page 115: Push Operation
5.3 Positioning operation 5.3.4 Push operation A push operation is performed at the positioning operation. During the push operation, the torque is limited in accordance with the push force being used, allowing workpieces to be grasped and press-fit. Push operation example Speed Torque limit zone Speed...
Page 116 5.3 Positioning operation Push judgment time ■ This setting is used as the reference for "operation end" judgments at push operations. The "operation end judgment" is made when the time during which the torque level is at the push force reaches the K5 (push judgment time) RUN parameter setting.
Page 117: Deceleration Push Operation
5.3 Positioning operation 5.3.5 Deceleration push operation Deceleration ends at the position set as the "Near width" value (distance) short of the target position, and the push operation then begins in accordance with the K6 (push speed) RUN parameter setting. Speed Torque limit zone Speed...
Page 118: Continuous Operation
5.3 Positioning operation 5.3.6 Continuous operation "Continuous operation" refers to consecutive positioning operations which occur in response to an initial START command input. When one positioning operation ends, and the "Timer" specified delay (wait) time elapses, the next positioning operation begins for the "Jump"...
Page 119: Output Function
5.3 Positioning operation 5.3.7 Output function During positioning operations, individual operation speeds and position information are transmitted to the host unit by the outputs shown below. Speed Speed Accel. Decel. Movement-in-progress output level (K12) Target position Zone - Zone + Position Near width Movement-in-progress...
Page 120: Speed Switch Function
5.3 Positioning operation 5.3.8 Speed switch function The overall positioning operation speed can be switched between two levels from the host equipment by using the speed switch input (SPD). Assigning method ■ When you set the "Speed switch function" (K17) to "Enable", the speed switch (SPD) will be assigned to JOG+ input.
Page 121: Operation Examples
5.3 Positioning operation 5.3.9 Operation examples Setting example 1 (movement between 2 points, standard setting) ■ Speed 100% Position (200.000mm) (500.000mm) 100% Position Speed Accel. Decel. RUN type Flag [mm] 200.000 500.000 (1) P1 P2 positioning occurs. (2) Return to P1. Setting example 2 (movement between 2 points, custom setting) ■...
Page 122 5.3 Positioning operation Setting example 3 (positioning + pitch feed) ■ Speed 100% 100.000mm 100.000mm 100.000mm Position (0.000mm) (200.000mm) 100% Position Speed Accel. Decel. RUN type [mm] 0.000 200.000 100.000 (1) P1 P2 positioning occurs. (2) Pitch feed corresponding to the P3 movement amount occurs. (3) Return to P1.
Page 123 5.3 Positioning operation Setting example 5 (workpiece push) ■ Speed 100% (100.000mm) Workpiece Position (0.000mm) (350.000mm) 100% Position Speed Accel. Decel. Push Force RUN type [mm] 0.000 350.000 INC Push 100.000 (1) P1 P2 positioning occurs. (2) Push operation corresponding to the P3 movement amount occurs. (3) Return to P1.
Page 124: Manual Mode
5.4 MANUAL mode 5.4 MANUAL mode In the MANUAL mode, JOG movement and position teaching, etc., can be performed from a host unit by using the optional Handy Terminal (HT1) or the TS- Manager support software. This section explains the MANUAL mode functions. 5.4.1 MANUAL mode timing chart MANUAL mode (MANUAL)
Page 125: Jog Movement
5.4 MANUAL mode 5.4.2 JOG movement When in the MANUAL mode ("MANUAL" ON), robot JOG movement in the specified direction is possible while the JOG+ / JOG- input is ON. When this input switches OFF, a deceleration stop occurs. JOG movement can be performed even if a return- to-origin has not been completed.
Page 126: Teach (Teaching)
5.4 MANUAL mode 5.4.3 TEACH (Teaching) When in the MANUAL mode ("MANUAL" ON) with "/LOCK" switched OFF, the current position can be written to the specified point No. at the leading edge of the TEACH input ON. The TEACH function is disabled if a return-to-origin has not yet been completed. NOTE Current position 210.450mm...
Page 127: Remote Commands
5.5 Remote commands 5.5 Remote commands 5.5.1 Overview Remote commands use the field network's remote registers to read and write various types of information. CC-Link ■ Inputs (Master Remote) Output (Remote Master) Address Signal Name Description Address Signal Name Description RWwn WIN0 Execution command...
Page 128 5.5 Remote commands Point data writing ■ Command Command Option Command Response Name WIN0 WIN1 WIN2, WIN3 WOUT1 WOUT2, WOUT3 Operation Operation type write 0200h Point No. Point No. type Position write 0201h Point No. Position data Point No. Speed write 0202h Point No.
Page 129 5.5 Remote commands Parameter writing ■ Command Command Option Command Response Name WIN0 WIN1 WIN2, WIN3 WOUT1 WOUT2, WOUT3 Speed override (K9) 0400h 0009h Speed override write JOG speed (K10) 0400h 000Ah JOG speed write Inching width (K11) 0400h 000Bh Inching width write Parameter reading...
Page 130: Timing Chart
5.5 Remote commands 5.5.3 Timing chart Remote command transmission/reception timing chart examples are given below. When executing a query ■ [Example] Executing "current position" reading Command option 0000h 0000h 0000h 0000h 0000h (WIN1) Command 0000h 0000h 0000h 0100h 0100h (WIN0) Status 0000h 0200h...
Page 131: Query
5.5 Remote commands 5.5.4 Query Reads information (current position and speed, etc.) related to the operation. Command Option Command Input WIN3 WIN2 WIN1 WIN0 Type 0100h Command Response Status Output WOUT3 WOUT2 WOUT1 WOUT0 Data 0200h The "Data" is output as 2-word, Little Endian data. NOTE Command type and response data ■...
Page 132: Point Data Writing
5.5 Remote commands 5.5.5 Point data writing Point data is written. Command Option Command Input WIN3 WIN2 WIN1 WIN0 Data Point No. 02xxh Command Response Status Output WOUT3 WOUT2 WOUT1 WOUT0 Point No. (response) 0200h Commands and data ■ Command Option Units Command Data Write...
Page 133: Point Data Reading
5.5 Remote commands 5.5.6 Point data reading Point data is read. Command Option Command Input WIN3 WIN2 WIN1 WIN0 Point No. 03xxh Command Response Status Output WOUT3 WOUT2 WOUT1 WOUT0 Data Point No. (response) 0200h The "Data" is output as 2-word, Little Endian data. NOTE Commands and data ■...
Page 134: Parameter Data Writing
5.5 Remote commands 5.5.7 Parameter data writing Parameter data is written. Command Option Command Input WIN3 WIN2 WIN1 WIN0 Data Parameter No. 0400h Command Response Status Output WOUT3 WOUT2 WOUT1 WOUT0 0200h Command type and data ■ Command Option Command Unit Parameter No.
Page 135: Parameter Data Reading
5.5 Remote commands 5.5.8 Parameter data reading Parameter data is read. Command Option Command Input WIN3 WIN2 WIN1 WIN0 Parameter No. 0500h Command Response Status Output WOUT3 WOUT2 WOUT1 WOUT0 Data 0200h Command type and response data ■ Command Option Command Response Command Unit...
Page 136: Operation Modes
5.6 Operation modes 5.6 Operation modes In addition to I/O control from a host unit (PLC, etc.), the TS series also offers communication control from a personal computer (running the TS-Manager support software) and from Handy Terminal (HT1). In order to use these tools in a safe manner, the desired operation mode can be selected to enable exclusive operation.
Page 137: Other Functions
5.7 Other functions 5.7 Other functions 5.7.1 Soft limit function Software imposed limits can be applied to the robot's range of motion in order to prevent interference with peripheral equipment. Robot movement is then restricted to target positions which are within the range specified by the soft limit function. The soft limit range can be set at the K1 (soft limit (-)) and K2 (soft limit (+)) RUN parameters.
Page 138: Alarm No. Output Function
5.7 Other functions 5.7.3 Alarm No. output function When an error alarm occurs, the alarm No. is output to the POUT0 to POUT7 point No. outputs. If multiple alarms have occurred, the highest priority alarm No. is output. The alarm No. output function can be enabled/disabled by the K30 (Alarm No.
Page 139: Magnetic Pole Position Estimation
5.7 Other functions 5.7.5 Magnetic pole position estimation The magnetic pole position is estimated at first "servo ON" after the control power is turned on. This operation is described below. Timing chart ■ Servo ON (SERVO) Servo status (SRV-S) Operation-in-progress (BUSY) Servo OFF Magnetic pole position estimation...
Page 140: Ts-Monitor (Option)
5.8 TS-Monitor (Option) 5.8 TS-Monitor (Option) This TS-Monitor is a LCD panel option prepared as an option of the controller. The TS Monitor displays various information on the screen, allowing you to check such information. Screen Contents INFORMATION Displays the controller, robot model name, or point type you are using. screen Displays the internal status of the servo and other devices, run mode, or MAIN screen...
Page 141: Changing The Screen
5.8 TS-Monitor (Option) 5.8.2 Changing the screen Press the button or button on the TS-Monitor to change the TS-Monitor screen ▲ ▼ as follows. Changing the screen after normal startup Startup screen Transits after a certain period of time has elapsed. button INFORMATION CHECK screen...
Page 142: Screen Configuration And Meaning
5.8 TS-Monitor (Option) When turning on the power while holding down the button, the SETUP screen ▼ will start up. On the SETUP screen, you can make the LCD setting. For details, see section "5.8.5 SETUP screen". When the SETUP screen is displayed, press the button while holding down the ▼...
Page 143 5.8 TS-Monitor (Option) INFORMATION screen ■ "INFORMATION" is displayed in the page name area at the uppermost portion on the INFORMATION screen. INFORMATION screen INFORMATION CONT :TS-P-10A Controller name :1.03.105 Controller software version ROBOT:MF20 Robot name P.TYP:CUSTOM Point type Point type...
Page 144 5.8 TS-Monitor (Option) Simple status display Display Meaning Description Displays the servo status. Servo status ON: Servo on status, OFF: Servo off status Displays the emergency stop status. Emergency stop ON: Emergency stop status Displays the main power voltage drop. Main power failure ON: Main power voltage drop Displays the return-to-origin completion status.
Page 145 5.8 TS-Monitor (Option) STATUS screen ■ "STATUS" is displayed in the page name area at the uppermost portion on the STATUS screen. STATUS screen STATUS SRV-S E-STOP ORGSEN P-BLK Status display TLM-S ORG-S : ON, : OFF MOVE WARN Status display Display Meaning Description...
Page 146 5.8 TS-Monitor (Option) Run type Display Meaning HOLD Servo is off or robot is stopping. ABS MERGE ABS merge operation INC MERGE INC merge operation ABS PUSH ABS push operation INC PUSH INC push operation ABS->PUSH ABS deceleration push operation INC->PUSH INC deceleration push operation Return-to-origin...
Page 147: Screen Color In Case Of Alarm
5.8 TS-Monitor (Option) 5.8.4 Screen color in case of alarm The screen color of the TS-Monitor changes according to the alarm occurrence status. The screen status and its meaning are descried in the table below. Status Meaning Blinks in blue (at intervals of 0.5 sec.). Servo is off and no error alarm occurs.
Page 148 5.8 TS-Monitor (Option) Change the setting. Change the setting with the button and press the button to set the setting you ▲ ▼ have changed. To change other setting item, repeat Steps 2 to 3. CONTRAST : Set a contrast in steps of 1 to 5. BACK LIGHT : Set a period of backlight on time.
Page 149: Chapter 6 Troubleshooting
Chapter 6 Troubleshooting Contents 6.1 Alarm groups 6.2 Alarm recording function 6.3 Alarm list 6.4 Alarms: Possible causes and actions 6-3...
Page 151: Alarm Groups
6.1 Alarm groups 6.1 Alarm groups Alarms on this controller are one of the following 5 groups. Group Description Error messages involving data editing or operation commands sent Message alarm as data. Operation alarm Alarm that appears when operation ends due to an error. Alarm that occurs due to internal causes.
Page 152: Alarm List
6.3 Alarm list 6.3 Alarm list The following table shows alarm numbers, messages, and reset methods. Alarm No. Alarm Message Reset Origin Position DATA ERROR DATA RANGE OVER MONITOR MODE RUNNING MANUAL MODE SERVO OFF ORIGIN INCOMPLETE NO POINT DATA SOFTLIMIT OVER INTERLOCK STOP KEY...
Page 153: Alarms: Possible Causes And Actions
6.4 Alarms: Possible causes and actions 6.4 Alarms: Possible causes and actions Message alarms ■ Message Meaning Possible Cause Action Attempt was made to Enter data within DATA ERROR Data setting error enter data that exceeded the specified the specified range. range.
Page 154 6.4 Alarms: Possible causes and actions Message Meaning Possible Cause Action 5 minutes or more elapsed after return-to-origin occurred. Origin sensor avoidance Correct the Failed to detect width (250mm) was environment ORG. MISTAKE origin at return- exceeded with the origin related to the to-origin sensor remaining ON (when...
Page 155 6.4 Alarms: Possible causes and actions Message Meaning Possible Cause Action Reduce the load. Rated current was Set the payload exceeded. correctly. Lower the duty cycle. Robot drive system Check the Overload collided with some objects. operation pattern. OVERLOAD detection level was exceeded.
Page 156 6.4 Alarms: Possible causes and actions Message Meaning Possible Cause Action Turn the 24V 24 V power supply is power supply turned off by NPN/PNP. back on. Cancel the alarm (in the case of I/O module NPN/PNP, after I/O FAULT stopped due to turning the 24V error.
Page 157 7.1.2 Dimensional outlines 7.2 I/O interface specifications 7.2.1 NPN 7.2.2 PNP 7.2.3 CC-Link 7.2.4 DeviceNet 7.3 TS-Monitor specifications 7.3.1 Basic specifications 7.3.2 Dimensional outlines (TS-P with TS-Monitor) 7.4 Regenerative unit specifications 7-7 7.4.1 Dimensional outlines (RGT) 7.4.2 Dimensional outlines (RGU-2)
Page 159: Ts-P Specifications
7.1 TS-P specifications 7.1 TS-P specifications 7.1.1 Basic specifications 100V AC input 200V AC input Item TS-P105 TS-P110 TS-P205 TS-P210 TS-P220 Controllable PHASER series robot Power capacity 400VA 600VA 400VA 600VA 1400VA Dimensions H162 D131mm H162 D131mm Weight Approx. 0.9kg Approx.
Page 160: Dimensional Outlines
7.1 TS-P specifications 7.1.2 Dimensional outlines TS-P (105/110/205/210) φ5.4 (90) EXT connector (Units : mm) TS-P (220) φ5.4 (90) EXT connector (Units : mm) Chapter 7 Speciﬁcations...
Page 161: I/O Interface Specifications
7.2 I/O interface specifications 7.2 I/O interface specifications 7.2.1 NPN 16 points, 24V DC 10%, 5.1mA per point, positive common Input ± 16 points, 24V DC 10%, 50mA per point, total 0.4A or less per 8 points, sink type Output ±...
Page 162: Devicenet
7.2 I/O interface specifications 7.2.4 DeviceNet DeviceNet specifications ■ Item Description Compatible DeviceNet Volume1 Release2.0 Specs. Volume2 Release2.0 Vendor name Yamaha Motor Co.,Ltd. ID=636 （） Device type Generic Device (Device No.0) Product code Product revision Max. network current 40mA consumption...
Page 163: Ts-Monitor Specifications
TS-P105/110/205/210 with TS-Monitor × H162 × D137.5 mm Outside dimensions of controller TS-P220 with TS-Monitor × H162 × D137.5 mm 7.3.2 Dimensional outlines (TS-P with TS-Monitor) TS-P (105/110/205/210) with TS-Monitor φ5.4 (83.5) 137.5 EXT connector (Units : mm) Chapter 7 Speciﬁcations...
Page 164 7.3 TS-Monitor specifications TS-P (220) with TS-Monitor φ5.4 (83.5) 137.5 EXT connector (Units : mm) Chapter 7 Speciﬁcations...
Page 165: Regenerative Unit Specifications
7.4 Regenerative unit specifications 7.4 Regenerative unit specifications 7.4.1 Dimensional outlines (RGT) φ5.5 RGEN R2.75 (Units : mm) 7.4.2 Dimensional outlines (RGU-2) RGEN (Units : mm) Chapter 7 Speciﬁcations...
Page 166 MEMO Chapter 7 Speciﬁcations...
Page 167: Ht1 Operation Guide
HT1 Operation Guide Contents Introduction 1. What the HT1 does 1.1 HT1 panel layout 1.2 Connecting to the external safety circuit (HT1-D) 2. Connecting or disconnecting the HT1 H-7 2.1 Connecting to the controller 2.2 Disconnecting from the controller 3. Basic operations H-10 3.1 Operation key layout and functions H-10...
Page 168 6.2 Origin search (return-to-origin) H-32 6.3 Operating the robot H-34 6.4 Resetting an alarm H-36 7. Monitor functions H-37 7.1 I/O monitor H-37 7.2 Status monitor H-38 7.3 Run monitor H-39 7.4 Alarm display H-40 7.5 Warning display H-41 7.6 Message display H-42 7.7 Alarm record display H-43...
Page 169: Introduction
Introduction Introduction This "HT1 Operation Guide" explains how to use the HT1 and HT1-D (with ENABLE switch) Handy Terminals that come with the TS series robot controller as an option. Before reading this section, read the precautions and descriptions stated in the "Controller Guide"...
Page 170: What The Ht1 Does
1. What the HT1 does 1. What the HT1 does The HT1 Handy Terminal is provided as an option for the TS series controller. When connected to the controller, the HT1 allows you to perform the following operations and checks. HT1 tasks With the HT1 you can: Refer to:...
Page 171: Ht1 Panel Layout
1. What the HT1 does 1.1 HT1 panel layout The HT1 consists of a LCD screen, data edit keys, run/stop keys, and emergency stop button as shown below. HT1 panel layout • Strap holder Attaching a short strap or necklace strap here prevents •...
Page 172 1. What the HT1 does Rear view (HT1-D) • ENABLE switch (HT1-D only) This switch is used along with an external safety circuit. This switch turns off (opens) the circuit when pressed or released. Pressing this switch to mid-position enables the circuit. •...
Page 173: Connecting To The External Safety Circuit (Ht1-D
1. What the HT1 does 1.2 Connecting to the external safety circuit (HT1-D) Using the safety connector on the HT1-D allows configuring an external safety circuit with the HT1-D emergency stop button or ENABLE switch. HT1-D wiring diagram ■ 15-pin D-sub connector (female) (If not using the HT1-D then connect the supplied Safety connector...
Page 174 1. What the HT1 does • 15-pin D-sub connectors (supplied only with HT1-D) Use these connectors with the emergency stop or ENABLE switch to configure an external safety circuit. 15-pin D-sub connector (female: KS9-M532A-000) Pin No. Attaching this connector directly to the safety connector ･...
Page 175: Connecting Or Disconnecting The Ht1
2. Connecting or disconnecting the HT1 2. Connecting or disconnecting the HT1 The HT1 can be connected or disconnected from the controller as needed regardless of whether controller power is on or off. · Do not modify the HT1 cable. Modiﬁed cables might cause communication errors or malfunctions.
Page 176 2. Connecting or disconnecting the HT1 Turn on the power to the controller. The initial screen (version display) appears for about 2 seconds and then the MENU (main menu) screen appears. (The same as when the HT1 is connected to the controller with the power turned on.) Initial screen and main menu screen Menu...
Page 177: Disconnecting From The Controller
2. Connecting or disconnecting the HT1 2.2 Disconnecting from the controller The HT1 can be disconnected from the controller, regardless of whether the controller power is on or off. Pull the HT1 cable connector straight outwards from the COM1 connector on the controller. Disconnection COM1 200V...
Page 178: Basic Operations
3. Basic operations 3. Basic operations The HT1 operation keys are only a minimum number of necessary keys, so HT1 operating procedures can easily be mastered even by first-time users. The HT1 operation keys are divided into two groups: data edit keys and run/stop keys.
Page 179: Screen Configuration
3. Basic operations 3.2 Screen configuration • Main menu screen On the main menu screen, the title "MENU" is displayed in the status area at the top of the screen. Selectable menus are displayed in the menu area. Nothing is displayed in the comment area at the bottom of the screen.
Page 180 3. Basic operations • Screen display example Each screen consists of a status area, menu area, and comment area. The display contents differ depending on the selected menu. In the screen display shown below, a point number and point data are displayed in the menu area.
Page 181: Starting To Use The Keys
3. Basic operations 3.3 Starting to use the keys You can operate the HT1 while selecting the displayed menus (Refer to section 3.5, "Menu structure"). The following steps explain a basic HT1 key operation, showing the procedure for setting point data. Before editing data, always make sure that the robot is stopped.
Page 182 3. Basic operations Select the point number you want to edit. There are 2 methods for selecting a point number. 1) Increment or decrement the point number Pressing will increment or decrement the point number. When "P1" is displayed, pressing changes it to "P255".
Page 183 3. Basic operations to move the cursor up or down to highlight the data item you want to edit. When the cursor is on the bottom row of the screen, pressing scrolls to the next page. After selecting the data item, press This allows you to edit the selected data item.
Page 184 3. Basic operations Set the other point data items. Follow steps 5 to 7 to set the necessary data items. Repeat steps 3 to 7 when setting data items for other point numbers. NOTE After editing the data, press The cursor returns to the point number row. Pressing returns to the "Point"...
Page 185: How To Enter Numbers
3. Basic operations 3.4 How to enter numbers The HT1 has no number keys. Use to enter numbers. (1) When in number edit mode, the edit cursor appears at the rightmost digit of the number. 2 . 3 4 (2) To change the number at the specified digit (cursor position), press Pressing increments the number, and pressing decrements the number.
Page 186: Menu Structure
3. Basic operations 3.5 Menu structure Editing Operation Read only P1 to P255 (During editing) Point Edit 1. Run type Select number Teaching 2. Position Copy Menu [01] Point 3. Speed Delete this Operation FUNC Parameter Monitor 4. Accel. Delete all Run mode Connection 5.
Page 187: Editing The Point Data
4. Editing the point data 4. Editing the point data The procedure for editing point data is described in the previous section 3.3, "Starting to use the keys", so please read it again. This section describes how to set the position for point data using point teaching, as well as how to copy or delete the point data you created.
Page 188 4. Editing the point data Select the point number to perform teaching. To select the point number, use the same procedure as for point data editing. (Press to select the point number, or press to select it from the "Function" menu.) FUNC Specify the speed to move the robot.
Page 189 4. Editing the point data When the robot reaches the teaching position, release the jog key to stop the robot. The message "Running " no longer appears when the robot is stopped. … Press to teach the position. A confirmation message then appears asking whether to teach the current position. Press to select "Yes"...
Page 190: Direct Teaching
4. Editing the point data 4.1.2 Direct teaching Direct teaching is basically the same as teaching playback, except that you move the robot by hand to a desired position in emergency stop. Open the "Point teaching" screen and select the point number. Follow the instructions described in steps 1 to 3 in section 4.1.1, "Teaching playback".
Page 191: Copying Point Data
4. Editing the point data 4.2 Copying point data This section describes how to copy created point data to another point data number. On the main menu screen, select "Point". The "Point" menu screen appears. Move the cursor to "Point teaching" and press The "Point teaching"...
Page 192: Deleting Point Data
4. Editing the point data 4.3 Deleting point data This section describes how to delete created point data. Deleted data cannot be restored, so be careful. CAUTION On the main menu screen, select "Point". The "Point" menu screen appears. Move the cursor to "Point teaching" and press The "Point teaching"...
Page 193: Displaying A List Of Point Data
4. Editing the point data 4.4 Displaying a list of point data You can display a list of point data. You can also make entries on the data edit screen by selecting a point number from the displayed list. On the main menu screen, select "Point". The "Point"...
Page 194: Parameter Setting
5. Parameter setting 5. Parameter setting The HT1 allows you to set parameters needed for robot operation. For detailed information and the setting range of each parameter, refer to the "Controller Guide", Chapter 3, section 3.4, "Parameter data". Before editing data, always make sure that the robot is stopped. Editing data while the robot is moving might cause problems with operation.
Page 195 5. Parameter setting Change the parameter value. For instructions on how to change numerical values, refer to section 3.4, "How to enter numbers". Press to enable the change. The cursor returns to the previous state. If you want to set another Run parameter, repeat steps 3 to 5.
Page 196: Setting I/O Parameters
5. Parameter setting 5.2 Setting I/O parameters This section describes how to set an I/O parameter using "OUT0 select" (terminal assignment) as an example. Power must be turned off and then back on to enable changes made to I/O parameters. NOTE On the main menu screen, select "Parameter".
Page 197: Setting Option Parameters
5. Parameter setting 5.3 Setting Option parameters The following example shows the option parameters setting method when using CC- Link. The same setting method is used for DeviceNet. Power must be turned off and then back on to enable changes made to Option parameters. NOTE On the main menu screen, select "Parameter".
Page 198: Setting Servo Parameters
5. Parameter setting 5.4 Setting Servo parameters This section describes how to set a Servo parameter using "Payload" as an example. On the main menu screen, select "Parameter". The "Parameter" menu screen opens showing selectable parameter groups. Move the cursor to "Servo parameter" and press The currently set Servo parameters are displayed.
Page 199: Operating The Robot
6. Operating the robot 6. Operating the robot 6.1 Turning the servo on or off This section describes how to check the servo status or how to turn the servo on or off. If the robot has a brake, the brake can also be engaged or released. On the main menu screen, select "Operation"...
Page 200: Origin Search (Return-To-Origin
6. Operating the robot 6.2 Origin search (return-to-origin) To find the robot origin position, use the following procedure after making sure that the servo is on. Origin search cannot be performed unless the servo is on. NOTE The robot will now move, so use caution. WARNING On the main menu screen, select "Operation".
Page 201 6. Operating the robot The machine reference must be adjusted if it is outside an allowable range of 25% to 75% (allowable range may differ depending on the robot type, so refer to the robot user's manual). NOTE For information on how to adjust the machine reference, contact our sales ofﬁce or representative.
Page 202: Operating The Robot
6. Operating the robot 6.3 Operating the robot This section describes how to position the robot using the HT1. The robot will now move, so use caution. WARNING On the main menu screen, select "Operation". The "Operation" menu screen appears showing selectable menu items. Move the cursor to "Run"...
Page 203 6. Operating the robot Specify the speed. If you want to change the speed, press to open the "Function" menu and specify FUNC the speed as follows: 1. Select "Change speed" and press The edit cursor then appears at the speed value. Point teaching S=100% [01] Point teaching S=100%...
Page 204: Resetting An Alarm
6. Operating the robot 6.4 Resetting an alarm If an alarm occurs during operation, the robot will immediately stop. After removing the cause of the alarm, the operation can be resumed by reset. On the "Operation" menu screen, move the cursor to "Reset" and press The "Reset"...
Page 205: Monitor Functions
7. Monitor functions 7. Monitor functions The HT1 has the following monitor functions that display various types of information for checking operation and status. Monitor Function Description I/O monitor Displays the status of I/O signals exchanged with the host device. Status monitor Displays the status of servo, brake, emergency stop, etc.
Page 206: Status Monitor
7. Monitor functions 7.2 Status monitor On the main menu screen, select "Monitor". The "Monitor" menu screen opens showing selectable menu items. Move the cursor to "Status monitor" and press The "Status monitor" screen opens. The meaning of each item is as follows: = OFF, = ON SRV-S : Servo status...
Page 207: Run Monitor
7. Monitor functions 7.3 Run monitor On the main menu screen, select "Monitor". The "Monitor" menu screen opens showing selectable menu items. Move the cursor to "Run monitor" and press The "Run monitor" screen opens. Pressing displays the second page. Pressing returns to the first page.
Page 208: Alarm Display
7. Monitor functions 7.4 Alarm display On the main menu screen, select "Monitor". The "Monitor" menu screen opens showing selectable menu items. Move the cursor to "Alarm" and press The "Alarm" screen opens showing up to 8 alarms that have occurred most recently. If 9 or more alarms have occurred, they will be automatically deleted starting from the oldest alarm.
Page 209: Warning Display
7. Monitor functions 7.5 Warning display On the main menu screen, select "Monitor". The "Monitor" menu screen opens showing selectable menu items. Move the cursor to "Warning" and press The "Warning" screen opens showing up to 8 warnings that have occurred most recently. If 9 or more warnings have occurred, they will be automatically deleted starting from the oldest warning.
Page 210: Message Display
7. Monitor functions 7.6 Message display On the main menu screen, select "Monitor". The "Monitor" menu screen opens showing selectable menu items. Move the cursor to "Message" and press The "Message" screen opens showing 1 cause (alarm) of the operation stop that occurred most recently.
Page 211: Alarm Record Display
7. Monitor functions 7.7 Alarm record display On the main menu screen, select "Monitor". The "Monitor" menu screen opens showing selectable menu items. Move the cursor to "Alarm records" and press The "Alarm records" screen opens showing up to 50 past alarms that occurred. Pressing moves the cursor up or down.
Page 212: Information Display
Move the cursor to "Information" and press The "Information" screen opens showing the model names and specifications of the controller and robot being used. Page 2 Monitor [01] Information [01] Information Controller TS-P-10 Option CC-Link Version 1.00.00 PNT table type NORMAL Robot MF15 Stroke 250.000...
Page 213: Other Functions
8. Other functions 8. Other functions 8.1 Operation mode When using the HT1, the operation mode can be set to any of the followings modes. The default setting is "Normal mode". I/O control Run mode from host Description operation device Normal mode All HT1 operations and host device I/O Permitted...
Page 214: Setting Mode
8. Other functions 8.2 Setting mode When you start the HT1 while holding down , the "Settings" screen appears FUNC as shown below. From this screen, you can change the LCD display language (Japanese/English) if needed. "Settings" screen Settings Serial port Language English Back light...
Page 215: Specifications
9. Specifications 9. Specifications 9.1 Basic specifications Item Specifications H191 D45 mm Outer dimensions (not including emergency stop button) HT1 : 260kg (without cable), 400g (including cable) Basic Weight HT1-D : 300kg (without cable), 440g (including specifications cable) Power 12V DC, 0.25A or less (supplied from controller) Cable length 3.5m Interface...
Page 216: Ht1-D
9. Specifications 9.2.2 HT1-D FUNC STOP 3-position ENABLE switch (Units: mm) Safety connector H-48 HT1 Operation Guide...
Page 217: Communication Command Guide
Communication Command Guide Contents Introduction 1. Communication specifications 1.1 Communication parameter specifications 1.2 Communication command specifications 2. Communication command lists 3. Communication command description C-5 3.1 Robot operation commands Positioning operation (START) Operation stop (STOP) Return-to-origin (ORG) JOG movement (JOG+, JOG-) Inching movement (INCH+, INCH-) 3.2 Status change commands Servo status change (SRVO)
Page 219: Introduction
Introduction Introduction The TS series robot controller allows you to write the point data or operate the robot using a communication device, such as a personal computer through the RS-232C communication. This "Communication Command Guide" explains how to set the communication parameters necessary to perform the communication between the communication device and the TS series, and also explains the communication command specifications.
Page 220: Communication Specifications
1. Communication specifications 1. Communication specifications 1.1 Communication parameter specifications The communication parameters on the mating unit, such as personal computer must be set as follows. Refer to the relevant unit's operation manual for the setting procedure. Communication parameter specifications ■...
Page 221: Communication Command Lists
2. Communication command lists 2. Communication command lists Robot operation commands ■ Command Format Command Description START @START<point number>[.<n>] Positioning operation STOP @STOP[.<n>] Operation stop @ORG[.<n>] Return-to-origin JOG+ @JOG+[.<n>] JOG movement (+ direction) JOG- @JOG-[.<n>] JOG movement (- direction) INCH+ @INCH+[.<n>] Inching movement (+ direction) INCH-...
Page 222 2. Communication command lists Query commands ■ Command Format Command Description @?M<point number>[.<n>] Operation type @?P<point number>[.<n>] Position @?S<point number>[.<n>] Speed @?AC<point number>[.<n>] Acceleration @?DC<point number>[.<n>] Deceleration Point @?Q<point number>[.<n>] Push data @?ZL<point number>[.<n>] Zone (-) reading @?ZH<point number>[.<n>] Zone (+) @?N<point number>[.<n>] Near width @?J<point number>[.<n>]...
Page 223: Communication Command Description
3. Communication command description 3. Communication command description 3.1 Robot operation commands The robot operation commands are intended to operate or stop the robot. Positioning operation (START) @START<point number>[.<node number>] c/r l/f Format Starts the positioning operation of specified point data. Meaning Function This command has the same function as the start (START) input.
Page 224: Return-To-Origin (Org
3. Communication command description Return-to-origin (ORG) @ORG[.<node number>] c/r l/f Format Performs the return-to-origin. Meaning Function This command has the same function as the return-to-origin (ORG) input. Setting <Node number> : 1 to 16 (This setting can be omitted when the same command is sent to all the controllers connected with the host device, as by daisy chain connection.) Communication example...
Page 225: Inching Movement (Inch+, Inch
3. Communication command description Inching movement (INCH+, INCH-) @INCH+[.<node number>] c/r l/f Format @INCH-[.<node number>] c/r l/f Performs the inching movement in the + or - direction. Meaning Function Performs the inching movement of the robot in a specified direction (+/-). •...
Page 226: Status Change Commands
3. Communication command description 3.2 Status change commands The status change commands are intended to change the servo or brake status. Servo status change (SRVO) @SRVO<1 or 0>[.<node number>] c/r l/f Format Changes the servo status. Meaning Function This command has the same function as the servo ON (SERVO) input. Setting <1 or 0>...
Page 227: Edit Commands
3. Communication command description 3.3 Edit commands The edit commands are intended to write data, such as parameter or point. Point data writing 1 (M, P, S, AC, DC, Q, ZL, ZH, N, J, F, T) @M<point number>[.<node number>]=<setting value> c/r l/f @P<point number>[.<node number>]=<setting value>...
Page 228: Point Data Writing 2 (P_, S_, Ac_, Dc_, Q
3. Communication command description Setting <Point number> : 1 to 255 <Node number> : 1 to 16 (This setting can be omitted when the same command is sent to all the controllers connected with the host device, as by daisy chain connection.) Communication example Transmission Response...
Page 229: Current Position Teaching (Teach
3. Communication command description Setting <Point number> : 1 to 255 <Node number> : 1 to 16 (This setting can be omitted when the same command is sent to all the controllers connected with the host device, as by daisy chain connection.) Communication example Transmission Response...
Page 230: Point Data Deleting (Del
3. Communication command description Point data deleting (DEL) @DEL<point number 1>[-<point number 2>][.<n>] c/r l/f Format Deletes specified point data. Meaning Function Deletes the point data from point number 1 to point number 2. Setting <Point number> : 1 to 255 <...
Page 231: Automatic Node Number Setting (Setid
3. Communication command description Automatic node number setting (SETID) @SETID Format Sets node numbers for daisy-chained controllers. Meaning Function Sets the node numbers to the daisy-chained controllers from "1" in order of distance starting from the controller nearest to the host communication device. •...
Page 232: Query Commands
3. Communication command description 3.4 Query commands The query commands are intended to read the data or robot status. Point data reading (?M, ?P, ?S, ?AC, ?DC, ?Q, ?ZL, ?ZH, ?N, ?J, ?F, ?T) @?M<point number>[.<node number>] c/r l/f @?P<point number>[.<node number>] c/r l/f @?S<point number>[.<node number>] c/r l/f @?AC<point number>[.<node number>] c/r l/f @?DC<point number>[.<node number>] c/r l/f...
Page 233: Parameter Data Reading (?K
3. Communication command description Communication example Transmission Response @?P1.1 c/r l/f Reads "Position" of point data 1. P1.1=30000 c/r l/f Receives the data. OK.1 c/r l/f Normal end @?S2.1 c/r l/f Reads "Speed" of point data 2. S2.1=100 c/r l/f Receives the data.
Page 234: Status Data Reading (?D
3. Communication command description Status data reading (?D) @?D<status number>[.<node number>] c/r l/f Format Reads specified status information. Meaning Function Reads the status information, such as current position or speed. Setting <Status number> : 0 to 20 (See the table below.) <Node number>...
Page 235: Input/Output Information Reading (?In, ?Inb, ?Out, ?Outb
3. Communication command description Input/output information reading (?IN, ?INB, ?OUT, ?OUTB) Input information @?IN<input number>[.<node number>] c/r l/f @?INB<input bit number [.<node number>] c/r l/f ＞ Format Output information @?OUT<output number>[.<node number>] c/r l/f @?OUTB<output bit number>[.<node number>] c/r l/f Reads specified input/output information.
Page 236: Word Input/Output Information Reading (?Win, ?Wout
3. Communication command description Word input/output information reading (?WIN, ?WOUT) Input information @?WIN<word input number>[.<node number>]c/r l/f Format Output information @?WOUT<word output number>[.<node number>]c/r l/f Reads specified word input/output information. Meaning Function Reads the word input/output information. The read-out results of the word input/output information in decimal notation are returned.
Page 237: Option Information Reading (?Opt, ?Optb
3. Communication command description Option information reading (?OPT, ?OPTB) @?OPT<option number>[.<node number>] c/r l/f Format @?OPTB<option bit number>[.<node number>] c/r l/f Reads specified option information. Meaning Function Reads the option information, such as zone output or emergency stop status. The read-out results of the option information in decimal notation are returned. Setting <Option number>...
Page 238: Alarm/Warning Information Reading (?Alm, ?Warn
3. Communication command description Alarm/warning information reading (?ALM, ?WARN) @?ALM<alarm occurrence number>[.<node number>] c/r l/f Format @?WARN<warning occurrence number>[.<node number>] c/r l/f Reads the alarm/warning information currently occurring. Meaning Function Reads the alarm/warning information currently occurring. For details regarding the alarm and warning numbers and their contents, see Chapter 6 "Troubleshooting"...
Page 239 Daisy Chain Guide Contents Introduction 1. Installation and wiring 1.1 Installation 1.2 Wiring 2. Node number setting 2.1 Automatic node number assignment function 2.1.1 Performing automatic node number assignment 2.1.2 When controllers with same node number exist on network 2.2 Switching of controllers D-10 3.
Page 241: Daisy Chain Guide
Introduction Introduction The daisy chain function of the TS series controllers enables monitoring of the controller status and manipulation of various data, such as point data and parameters, of up to 16 controllers that is connected (daisy-chained) with a computer or Handy Terminal. This section explains the daisy chain function used with the support software TS- Manager.
Page 242: Installation And Wiring
1. Installation and wiring 1. Installation and wiring 1.1 Installation • To use the daisy chain connection, be sure to install an external emergency stop circuit. • Be sure to be ready to perform external emergency stop before you operate a daisy- chained controller from the Handy Terminal or a computer.
Page 243: Wiring
Be sure to shut off the control power to the controller before connecting the controllers in a daisy chain. WARNING To connect controllers in a daisy chain, the YAMAHA-specified daisy chain connection cables must be used. The number of connection cables required is the number of controllers to be connected plus one.
Page 244 1. Installation and wiring • Select either the USB or D-Sub connection cable for the communication cable. To perform the communication through the USB port of a communication device, such as a personal computer, use the USB communication cable. If the D-Sub communication cable is connected to the USB port through a commercially available USB conversion cable, the operation cannot be guaranteed.
Page 245 1. Installation and wiring Connect the other end of the daisy chain cable (black connector) to the COM1 port on the destination controller to be daisy-chained. In this way, two controllers have been connected. By using the same procedure, up to 16 controllers can be daisy-chained.
Page 246: Node Number Setting
2. Node number setting 2. Node number setting 2.1 Automatic node number assignment function Each daisy-chained controller can be distinguished from each other by being assigned a "node number". "Automatic node number assignment function" (hereafter referred to as "Automatic node number assignment") of the support software TS-Manager is used to set node numbers.
Page 247 2. Node number setting Select "Automatic Node Number Assignment" command from the "Tools" menu in the main window. Selecting "Automatic Node Number Assignment" Select the COM port to which the communication cable is connected, and click the [OK] button. "Automatic Node Number Assignment" window Check the cautions and click the [OK] button.
Page 248: When Controllers With Same Node Number Exist On Network
2. Node number setting The message appears stating that the automatic node number assignment is completed. The figures on the left side show the node numbers and the letters on the right mean the controllers' model names set for each node number. "Automatic node number assignment completed"...
Page 249 2. Node number setting If there exist some computers having the same node number, the following warning message will appear. Warning message Click the [OK] button to perform automatic node number assignment. Click the [OK] button when the message appears stating that the automatic node number assignment is completed.
Page 250: Switching Of Controllers
2. Node number setting 2.2 Switching of controllers By performing "Switch Controller", you can check and edit the information of the daisy-chained controllers from TS-Manager. From the "File" menu, select "New" – "Connection...". The "New Connection" dialog box appears. You can also click the [New Connection] button on the toolbar.
Page 251 2. Node number setting If controllers having the same node number are recognized when "Research" is performed, the window appears asking whether to execute automatic node number assignment. In this window, clicking the [OK] button will start the assignment. If you do not require automatic NOTE node number assignment, click the [Cancel] button.
Page 252: Writing And Transferring Saved And Newly Made Data
3. Writing and transferring saved and newly made data 3. Writing and transferring saved and newly made data This section describes how to write or transfer data from a daisy-chained controller to an unconnected controller by using the TS-Manager. • If a computer and a controller have already been connected, transfer and writing of data will be made to the currently connected controller.
Page 253 3. Writing and transferring saved and newly made data Select the COM port to be connected to the controller, and click the [OK] button. "Write Data to Controller" window "Node Select" window appears. Select a target controller for transferring data in this window. "Node Select"...
Page 254 3. Writing and transferring saved and newly made data If the robot name set in the data to be transferred to the controller does not match that currently set in the controller, a confirmation message appears asking whether to continue data transfer. If you want to continue data transfer, click the [Yes] button.
Page 255: Transferring Data To Controller
3. Writing and transferring saved and newly made data 3.2 Transferring data to controller From the "File" menu, select "Transfer" - "PC to Controller..." command. Transferring data to controller The "Data Transfer [PC to Controller]" window appears. Clicking the [ ... ] button next to the "File Name" box will display the "Open" dialog box. "Data Transfer [PC to Controller]"...
Page 256 3. Writing and transferring saved and newly made data Select the file to transfer to a controller and click the [Open] button. The selected data file is displayed in the "File Name" box. Select the COM port to be connected to the controller, and click the [OK] button.
Page 257 3. Writing and transferring saved and newly made data Click the [OK] button. If there is a possibility that all the controllers are not displayed, click the [Research] button. If controllers having the same node number are recognized when "Research" is performed, the window appears asking whether to execute automatic node number assignment.
Page 258 3. Writing and transferring saved and newly made data When the message appears asking whether to execute data transfer, click the [OK] button. Check the data name and target controller. To stop data transfer, click the [Cancel] button. "Data transfer confirmation" message Data transfer starts.
Page 259 Index Contents Index (Controller) Index (HT1)
Page 261 Index (Controller) Dimensional outlines Main body ..............7-2 Main body (TS-P with TS-Monitor) ......7-5 Regenerative unit (RGT) ..........7-7 Alarm Regenerative unit (RGU-2) ........7-7 List ................6-2 Possible causes and actions ........6-3 Installation and operation sequence ....1-4 Recording function ...........6-1 Installation conditions .........2-3 Alarm groups ............6-1...
Page 262 Remote commands ..........5-29 Parameter data reading ..........5-37 Parameter data writing ...........5-36 Point data reading ..........5-30 Point data writing ............5-30 Query ..............5-29 Special codes ............5-31 Status ..............5-31 Return-to-origin ............5-4 Safety alert symbols and signal words ....iii Safety cautions ............x Soft limit function ..........5-39 TS-Monitor ............5-42 CHECK screen ............5-48...
Page 263 Index (HT1) Setting Option parameters ........H-29 Setting Run parameters ........H-26 Setting Servo parameters ........H-30 Basic speciﬁcations .......... H-47 Resetting an alarm ..........H-36 Return-to-origin ..........H-32 Connecting to the controller ......H-7 Screen conﬁguration ........H-11 Dimensional outlines ........H-47 Setting mode HT1 ................
Page 264 All rights reserved. No part of this publication may be reproduced in any form without the permission of YAMAHA MOTOR CO., LTD. Information furnished by YAMAHA in this manual is believed to be reliable. However, no responsibility is assumed for possible inaccuracies or omissions.

This manual is also suitable for:

Ts-x

Yamaha TS-P User Manual

Chapter 1 Overview

Installation Method

Installation Conditions

Chapter 2 Wiring

Connecting the Robot

Connecting the Communication Unit

Connecting the Regenerative Unit

Connecting the I/O Signals

Connecting the EXT Connector

Connecting the I/O Unit

Safety Circuit Construction Example

Chapter 3 Data Setting

Data Overview

Point Data

Point Data Details

Parameter Data

Chapter 4 I/O Signal Functions

Chapter 5 Operation

Operation Procedure

Origin Search (Return-To-Origin)

Positioning Operation

MANUAL Mode

Remote Commands

Operation Modes

Other Functions

TS-Monitor (Option)

Chapter 6 Troubleshooting

Chapter 7 Specifications

TS-P Specifications

I/O Interface Specifications

TS-Monitor Specifications

Regenerative Unit Specifications

HT1 Operation Guide

Introduction

What the HT1 Does

Connecting or Disconnecting the HT1

Basic Operations

Editing the Point Data

Parameter Setting

Operating the Robot

Monitor Functions

Other Functions

Specifications

Communication Command Guide

Introduction

Communication Specifications

Communication Command Lists

Daisy Chain Guide

Quick Links

Related Manuals for Yamaha TS-P

Summary of Contents for Yamaha TS-P