TS Series U/M English

TS Series U/M English
YAMAHA SINGLE-AXIS ROBOT CONTROLLER
TS Series
User s Manual
TS-S/TS-S2/TS-SH/TS-X/TS-P
EPM0145203
Ver. 2.03
E119
CONTENTS
TS Series
User’s Manual
Important information before reading this manual
Introduction
i
Main functions
ii
About this manual
iii
Safety alert symbols and signal words
iv
CE marking
v
1. Safety standard
v
2. Safety measures
v
3. Robot safety measures
vi
4. EMC countermeasure example
vi
Safety cautions
ix
Warranty
xii
Chapter 1 Overview
1. Unpacking check
1-1
2 .Part names and functions
1-2
3. System configuration
1-5
4. Installation and operation sequence
1-6
Chapter 2 Installation and wiring
1. Installation method
1.1 Controller main body
1.1.1
TS-S TS-S2 TS-X TS-P 1.1.2
TS-SH 1.1.3 Installation screws
2-1
2-1
2-1
2-2
2-2
1.2 Regenerative unit (RGT) TS-X TS-P 2-3
1.3 Regenerative unit (RGU-2) TS-P 2-3
2 .Installation conditions
2-4
3. Wiring
2-5
3.1 Power supply connection TS-S TS-S2 TS-SH 2-5
T-1
CONTENTS
3.2 Power supply connection TS-X TS-P 3.3 Malfunction prevention measures TS-X TS-P TS Series
User’s Manual
2-7
2-10
4. Connecting the robot
2-11
5. Connecting the communication unit
2-13
6. Connecting the regenerative unit TS-X TS-P 2-15
6.1 Connecting the RGT TS-X TS-P 2-15
6.2 Connecting the RGU-2 TS-P 2-16
7. Absolute battery TS-X TS-SH 2-17
7.1 Connecting the absolute battery
2-17
7.2 Replacing the absolute battery
2-18
8. Connecting the I/O signals
2-19
9. Configuring an emergency stop circuit TS-S TS-S2 TS-SH 2-20
10.Configuring an emergency stop circuit TS-X TS-P 2-21
10.1 EXT connector signal names and functions
2-21
10.2Wiring and connecting the EXT connector
2-23
10.3Circuit details
2-24
11.Connecting the I/O unit
2-25
12.Safety circuit construction example TS-X TS-P 2-29
12.1 Performance level
2-29
12.2Circuit configuration examples
2-30
Chapter 3 Data setting
1. Data overview
1.1 Overview
3-1
1.2 Data system-of-units
3-1
2 .Point data
T-2
3-1
3-2
2.1 "Standard setting" type
3-3
2.2 "Custom setting" type
3-4
3. Point data details
3-5
4. Parameter data
3-9
4.1 Parameter list
3-9
CONTENTS
4.1.1 RUN parameters
TS Series
User’s Manual
3-9
4.1.2 I/O parameters
3-10
4.1.3 Option parameters
3-10
4.1.4 Servo parameters
3-11
4.2 Parameter details
3-11
4.2.1 RUN parameters
3-11
4.2.2 I/O parameters
3-14
4.2.3 Servo parameters
3-16
4.2.4 Option parameters
3-17
4.2.5 CC-Link
3-17
4.2.6 DeviceNet
3-18
4.2.7 EtherNet/IP
3-18
Chapter 4 I/O signal functions
1. I/O specifications
1.1 NPN and PNP type
4-1
4-1
1.2 CC-Link type
4-2
1.3 DeviceNet type
4-4
1.4 EtherNet/IP type
4-5
2 .I/O signal list
4-6
3. I/O signal details
4-7
3.1 Input signal details
4-7
3.2 Output signal details
4-9
Chapter 5 Operation
1. Operation procedure
1.1 Overall operation timing chart
5-1
5-1
1.1.1
TS-S TS-S2 TS-SH 5-1
1.1.2
TS-X 5-2
1.1.3
TS-P 5-3
1.1.4 Communication check (field network)
5-4
1.2 Alarm occurrence and clearing
5-5
2 .Origin search (return-to-origin)
5-6
2.1 Origin point detection method TS-S TS-S2 TS-X TS-SH 5-6
2.2 Origin point detection method TS-P 5-7
2.3 Origin point and coordinates relationship
5-10
2.4 Return-to-origin timing chart
5-10
T-3
CONTENTS
3. Positioning operation
5-11
3.1 Basic operation
5-11
3.2 Positioning timing chart
5-14
3.3 Positioning merge operation
5-16
3.4 Push operation
5-18
3.5 Deceleration push operation
5-20
3.6 Continuous operation
5-21
3.7 Output function
5-22
3.8 Speed switch function
5-23
3.9 Limitless rotation function
5-24
3.10 Operation examples
5-25
4. MANUAL mode
4.1 MANUAL mode timing chart
5-28
5-28
4.2 JOG movement
5-29
4.3 TEACH (Teaching)
5-30
5. Remote commands
5-31
5.1 Overview
5-31
5.2 Remote command list
5-31
5.3 Timing chart
5-35
5.4 Query
5-36
5.5 Point data writing
5-37
5.6 Point data reading
5-38
5.7 Parameter data writing
5-39
5.8 Parameter data reading
5-40
5.9 Continuous query
5-41
5.10 Positioning operation
5-42
5.11 Special codes
5-44
6. Operation modes
5-45
7. Other functions
5-46
7.1 Soft limit function
5-46
7.2 Zone output function
5-46
7.3 Alarm No. output function
5-47
7.4 Changing the payload
5-47
7.5 Stop mode TS-S TS-S2 TS-SH 5-48
7.6 Magnetic pole position estimation TS-P 5-48
8. LED status indicators
T-4
TS Series
User’s Manual
5-49
CONTENTS
9. TS-Monitor (Option) TS-X TS-P TS Series
User’s Manual
5-50
9.1 Part names and functions
5-50
9.2 Opening or closing the TS-Monitor
5-50
9.3 Changing the screen
5-51
9.4 Screen configuration and meaning
5-52
9.5 Screen color in case of alarm
5-56
9.6 SETUP screen
5-57
Chapter 6 Troubleshooting
1. Alarm groups
6-1
2 .Alarm recording function
6-2
3. Alarm list
6-3
4. Alarms: Possible causes and actions 6-4
Chapter 7 Specifications
1. Controller basic specifications
1.1 Basic specifications
1.1.1
TS-S TS-S2 TS-SH 1.1.2
TS-X TS-P 7-1
7-1
7-1
7-2
1.2 List of controlled robots
7-3
1.3 Dimensional outlines
7-5
2 .I/O interface specifications
7-7
2.1 NPN
7-7
2.2 PNP
7-7
2.3 CC-Link
7-7
2.4 DeviceNet
7-8
2.5 EtherNet/IP
7-9
3. TS-Monitor specifications TS-X TS-P 7-10
3.1 Basic specifications
7-10
3.2 Dimensional outlines (with TS-Monitor TS-X TS-P )
7-10
4. Regenerative unit specifications
7-12
4.1 Dimensional outlines (RGT)
7-12
4.2 Dimensional outlines (RGU-2)
7-12
T-5
CONTENTS
TS Series
User’s Manual
HT1 Operation Guide
Introduction
A-1
1. What the HT1 does
A-2
1.1 HT1 panel layout
A-3
1.2 Connecting to the external safety circuit (HT1-D)
A-5
2 .Connecting or disconnecting the HT1
2.1 Connecting to the controller
A-6
2.2 Disconnecting from the controller
A-7
3. Basic operations
3.1 Operation key layout and functions
3.2 Screen configuration
A-8
A-8
A-9
3.3 Starting to use the keys
A-11
3.4 How to enter numbers
A-14
3.5 Menu structure
A-15
4. Editing the point data
4.1 Point teaching
A-16
A-16
4.1.1 Teaching playback
A-16
4.1.2 Direct teaching
A-18
4.2 Copying point data
A-19
4.3 Deleting point data
A-20
4.4 Displaying a list of point data
A-21
5. Parameter setting
A-22
5.1 Setting Run parameters
A-22
5.2 Setting I/O parameters
A-23
5.3 Setting Option parameters
A-24
5.4 Setting Servo parameters
A-25
6. Operating the robot
6.1 Turning the servo on or off
A-26
A-26
6.2 Origin search (return-to-origin)
A-27
6.3 Operating the robot
A-28
6.4 Resetting an alarm
A-30
7. Monitor functions
T-6
A-6
A-31
7.1 I/O monitor
A-31
7.2 Status monitor
A-32
7.3 Run monitor
A-33
CONTENTS
TS Series
User’s Manual
7.4 Alarm display
A-34
7.5 Warning display
A-34
7.6 Message display
A-35
7.7 Alarm record display
A-36
7.8 Information display
A-37
8. Other functions
A-38
8.1 Operation mode
A-38
8.2 Setting mode
A-39
8.2.1 Changing the display language
9. Specifications
A-39
A-40
9.1 Basic specifications
A-40
9.2 Dimensional outlines
A-40
9.2.1 HT1
A-40
9.2.2 HT1-D
A-41
Communication Command Guide
Introduction
B-1
1. Communication specifications
B-2
1.1 Communication parameter specifications
B-2
1.2 Communication command specifications
B-2
2 .Communication command lists
B-3
3. Communication command description
B-5
3.1 Robot operation commands
B-5
Positioning operation (START)
B-5
Operation stop (STOP)
B-5
Return-to-origin (ORG)
B-6
JOG movement (JOG+, JOG-)
B-6
Inching movement (INCH+, INCH-)
B-7
3.2 Status change commands
B-8
Servo status change (SRVO)
B-8
Brake status change (BRK)
B-8
Reset (RESET)
B-8
3.3 Edit commands
Point data writing 1 (M, P, S, AC, DC, Q, ZL, ZH, N, J, F, T) B-9
B-9
Point data writing 2 (P_, S_, AC_, DC_, Q_) B-10
Current position teaching (TEACH)
B-11
Point data copying (COPY)
B-11
T-7
CONTENTS
TS Series
User’s Manual
Point data deleting (DEL)
B-12
Parameter data writing (K)
B-12
Automatic node number setting (SETID)
B-13
3.4 Query commands
Point data reading (?M, ?P, ?S, ?AC, ?DC, ?Q, ?ZL, ?ZH, ?N, ?J, ?F, ?T) B-14
B-14
Parameter data reading (?K)
B-15
Status data reading (?D)
B-16
Input/output information reading (?IN, ?INB, ?OUT, ?OUTB) B-17
Word input/output information reading (?WIN, ?WOUT) B-18
Option information reading (?OPT, ?OPTB) B-19
Alarm/warning information reading (?ALM, ?WARN) B-20
Daisy Chain Guide
Introduction
C-1
1. Installation and wiring
C-2
1.1 Installation
C-2
1.2 Wiring
C-3
2 .Node number setting
2.1 Automatic node number assignment function
C-5
C-5
2.1.1 When using the TS-Manager
C-5
2.1.2 When using the HT1
C-7
2.2 When controllers with same node number exist on network
C-8
2.2.1 When using the TS-Manager
C-8
2.2.2 When using the HT1
C-9
2.3 Switching the controllers
C-10
2.3.1 When using the TS-Manager
C-10
2.3.2 Switching the controllers using the HT1
C-12
3. Writing and transferring saved and newly made data
C-13
3.1 Writing data to controller
C-13
3.2 Transferring data to controller
C-16
Gateway Function Guide
Introduction
D-1
1. Installation and wiring
D-2
1.1 Installation
D-2
1.2 Wiring
D-2
2 .Initial setting
T-8
D-3
CONTENTS
TS Series
User’s Manual
2.1 Node number setting
D-3
2.2 Enable setting
D-3
3. I/O interface specifications
D-4
3.1 Configuration
D-4
3.2 CC-Link type
D-5
3.3 EtherNet/IP type
D-6
4. Data setting and operation
D-7
4.1 Restrictions on gateway function
D-7
4.2 Data setting
D-7
4.3 Operation
D-7
T-9
Important information before reading this manual
Contents
Introduction
i
Main functions
ii
About this manual
iii
Safety alert symbols and signal words
iv
CE marking
v
1. Safety standard
v
2. Safety measures
v
3. Robot safety measures
vi
4. EMC countermeasure example
vi
Safety cautions
ix
Warranty
xii
Introduction
This manual explains four controller models, TS-S, TS-S2, TS-SH, TS-X, and TS-P.
So, some functions or numeric values may vary depending on the controller model you are using. In this
manual, the models, TS-S, TS-S2, TS-SH, TS-X, and TS-P, are expressed by TS-S , TS-S2 , TS-SH , TS-X ,
and TS-P , respectively.
Be sure to check the items corresponding to the controller model you are using.
i
Important information before reading this manual
Thank you for purchasing the TS series robot controller (hereafter referred to simply as "Controller"). Please
read this manual carefully to ensure correct and safe use of this controller.
Main functions
Important information before reading this manual
The following table shows the main functions of the controller.
Function
Explanation
Reference Section
Moves the robot slider to the specified position. There are 4 types
of position operation:
Positioning
operation
1. Positioning operation
Chapter 5
section 3, "Positioning operation".
2. Positioning merge operation
Chapter 5
section 3.3, "Positioning merge operation".
3. Push operation
Chapter 5
section 3.4, "Push operation".
4. Decel. Push
Chapter 5
section 3.5, "Deceleration push operation".
*Positioning can be specified in an "absolute position" or "relative
position" format.
Specifies the slider position (point).
Point data
Point type setting
Origin search
Up to 255 points of point data can be handled.
Each point includes the following elements:
RUN Type, Position, Speed, Accel., Decel., Push Force, Zone (-),
Zone (+), Near Width (In-Position Zone), Jump, Flag, Timer.
The "point data type" setting can be selected as "Standard setting"
or "Custom setting". This is possible only from the support
software.
Performs an origin search (return-to-origin) simply by entering a
return-to-origin command.
Chapter 3
section 2, "Point data".
Chapter 5
section 1, "Operation procedure".
Chapter 5
section 2, "Origin search".
Absolute function
TS-X TS-SH
Once the absolute battery has been connected and a single origin
return has been executed, further origin returns are not required
at subsequent power ONs.
Chapter 5
section 2.1, "Origin point detection method".
JOG operation and
current position
teaching
Robot JOG operation and current position teaching can be
performed from the host controller.
Chapter 5
section 3, "Positioning operation".
Soft limit function
Sets the robot's movement range. This function is used to avoid
collisions, etc., when obstacles are present.
Chapter 5
section 7.1, "Soft limit function"
Output function
The following statuses can be selected and output to the host
controller.
Point No. output, alarm No. output, zone output, personal zone
output, near output (in-position zone output), push status, origin
return completion status, warning output, movement-in-progress
output, manual mode status.
Chapter 4
section 3, "I/O signal details".
Alarm history
Saves up to 50 of the most recent alarms. The following elements
are saved:
Cause, start time, position, speed, operation status, operation
point, elec. current, voltage, input, output.
Chapter 6
"2. Alarm recording function".
Operation modes
Exclusive I/O and communication control is possible.
Chapter 5
section 6, "Operation modes".
Support tools
n HT1 (Handy Terminal)
Offers point and parameter data editing/monitoring functions.
n TS-Manager (PC software for Windows)
Support software for data designing, debugging, maintenance,
and management.
n TS-Monitor (LCD monitor) TS-X TS-P
LCD monitor integrated with the controller main body that displays
the various statuses, current position, and alarm information.
ii
Chapter 3
section 2, "Point data".
HT1 Operation Guide
Chapter 5
section 9, "TS-Monitor (Option)"
About this manual
Configuration of this manual
• Safety Cautions
Contains the handling cautions related to the
controller and the optional Handy Terminal. Be
sure to read these cautions before using the
equipment, and strictly observe them at all times.
• Controller Guide
Explains the controller functions, as well as the
controller installation and operation procedures.
Be sure to read this section before operating the
controller, and strictly observe the instructions at
all times.
• Supplement
HT1 Operation Guide
Explains the procedures for using the HT1 (Handy
Terminal) to edit point data, and to operate the
robot, etc.
Communication
Command Guide
Be sure to read this section before writing the data,
such as parameter or point data, or operating the
robot using a communication unit, such as a personal
computer through the RS-232C communication.
Daisy Chain Guide
Explains the daisy chain function of the TS series
robot controllers.
23001-M0-00
Use any of the following methods for referencing this manual content during controller installation, operation,
and adjustment procedures.
•Keep this manual close at hand for referencing when performing installation, operation, and adjustments.
•Display the CD-ROM version of this manual onscreen for referencing when performing installation,
operation, and adjustments.
•Print out the required pages of this manual from the CD-ROM in advance, and use them for reference when
performing installation, operation, and adjustments.
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 devices, please refer to the
operation manuals for those items.
iii
Important information before reading this manual
This manual is divided into 3 main parts: Safety Cautions, Controller Guide, and a Supplement (HT1
Operation Guide, Communication Command Guide, Daisy Chain Guide). In order to use the controller and
optional devices in an efficient manner, users should read the parts which are pertinent to the objective in
question. Moreover, after reading this manual, keep it on hand for easy referencing as needed, and always
make it available to the end user.
Safety aler t symbols and signal words
Important information before reading this manual
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.
w
w
c
DANGER
"DANGER" indicates an imminently hazardous situation which, if not avoided, will result in death or
serious injury.
WARNING
"WARNING" indicates a potentially hazardous situation which, if not avoided, could result in death or
serious injury.
CAUTION
"CAUTION" indicates a potentially hazardous situation which, if not avoided, could result in minor or moderate
injury or damage to the equipment or software.
Indicates a prohibited action related to the handling of this product. Read the content
carefully to ensure that the prohibited action is not performed.
[Example]
Indicates a mandatory action related to the handling of this product. Read the content
carefully to ensure that the mandatory action is performed.
[Example]
Mandatory action
iv
Cut off power
CE marking
■ ■ Cautions regarding compliance with EC Directives
The YAMAHA robot (robot and controller) is not, in itself, a robot system. The YAMAHA robot is just one component that
is incorporated into the customer's system (built-in equipment), and YAMAHA robots are in compliance with the EC
Directives as they apply to built-in equipment. Therefore, this does not guarantee EC Directive compliance in cases
where the robot is used independently. Customers who incorporate a YAMAHA robot into a system which will be shipped
to, or used in, the EU, should therefore verify that the overall system is compliant with EC Directives.
● Differences between YAMAHA single-axis robot (robot and controller) and industrial robot
YAMAHA single-axis robot (robot and controller) is not the industrial robot that is defined in European Standard EN ISO10218-1.
Article 3.10 of this standard defines "industrial robot" as "multipurpose manipulator programmable in three or more axes"
and YAMAHA single-axis robot does not apply to this definition.
■ ■ CE marking
YAMAHA robots are components that are incorporated into the customer's system (built-in equipment). We therefore
declare regarding EC Directives that YAMAHA robots are "Partly completed machinery" and so we do not affix a CE mark
to the robots.
■ ■ Applicable EC Directives and their related standards
The following table lists the Directives (and related standards) which apply to the robot's CE Marking compliance.
EC Directive
Related Standards
Machinery
Directive
2006/42/EC
EN ISO12100 :
EN 60204-1 :
Safety of machinery - General principles for design - Risk assessment and risk reduction
Safety of machinery - Electrical equipment of machines - Part1: General requirements
EMC Directive
2004/108/EC
EN 55011
:
EN 61000-6-2 :
Industrial, scientific and medical equipment - Radio-frequency disturbance characteristics - Limits and methods of measurement
Electromagnetic compatibility (EMC) - Part6-2: Generic standards - Immunity for industrial environments
■ ■ Cautions regarding the official language of EU countries
For equipment that will be installed in EU countries, the language used for the manuals, warning labels, operation screen
characters, and CE declarations is English only.
Warning labels only have pictograms or else include warning messages in English. In the latter case, messages in
Japanese or other languages might be added.
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".)
EMC Directive compliance requires that the customer have the final product (over equipment system) evaluated, with
any necessary measures being implemented.
• Installation conditions TS-X TS-P
· YAMAHA robots are classified as "built-in equipment", and feature a "Class I" protective structure with regard to
electrical shocks. Be sure to ground the robot and robot controller in order to ensure electrical shock protection.
· The robot controller case is not designed to meet the "enclosure" requirement specified by the EN60204-1 Standard.
Suitable protection should therefore be provided to prevent contact electrical shock hazards, and to protect the
controller from dust and water, etc., in the ambient environment.
· Regarding insulation coordination, YAMAHA robots are designed for the following conditions (refer to the IEC60664-1
Standard):
Over-voltage category II
Pollution degree 2
Suitable measures should be taken if the robot is to be used in environments more severe than those shown above.
• Explosion-proof
The robot and controller do not have explosion-proof specifications, and the robot should therefore not be used in
environments exposed to flammable gases which could explode or ignite, or to gasoline and solvents, etc.
v
Important information before reading this manual
1. Safety standard
3. Robot safety measures
Important information before reading this manual
■ ■ Electrical Shock Prevention Measures
Use the protective ground terminal in order to ensure safety with regard to electrical shocks. For details, refer to the
robot's operation manual.
4. EMC countermeasure example
Regarding EMC directives, the customer's final product (entire system) including the YAMAHA robot must
provide the necessary countermeasures. We at YAMAHA determine a model for single units of YAMAHA robots
(controller, robot, and peripheral device) and verify that it complies with the relevant standards of EMC
directives.
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.
c
CAUTION
The examples shown here are the countermeasures tested under our installation conditions. When our product is
installed in the customer's system, the test results may differ due to the difference in the installation conditions.
• Configuration
c
CAUTION
As shown in the drawing below, install the ferrite cores and noise filter as close to the controller as possible. Also
install another ferrite core as close to the robot as possible.
EMC countermeasure example
TS-S
TS-S2
TS-SH
Controller
*
Power supply
(200V)
Ground
MP24V ROB I/O
CP24V
0V
AC/DC
converter
24V
IO
Single-axis robot
I/O circuit or
network
COM1
Handy Terminal with
ENABLE switch
Power connector
External safety circuit
* AC/DC converter JWS100-24: made by TDK Lambda
23001-M3-00
EMC countermeasure example
TS-X
TS-P
Controller
L
N
L1
N1
Power supply
(100 to 115V)
(200 to 230V)
Ground
ROB I/O
MOTOR
IO
Single-axis robot
I/O circuit or
network
COM1
Handy Terminal with
ENABLE switch
EXT
External safety circuit
RGEN
Regenerative unit
Meaning of symbols
Surge absorber
LT-C12G801WS : SOSHIN ELECTRIC CO., LTD.
Noise filter
NAP-10-472
Ferrite core
ZCAT3035-1330 : TDK
: COSEL CO., LTD.
Ferrite core
ZCAT2132-1130 : TDK
Ferrite core
2 turns
23001-M1-00
vi
• Countermeasure components
• Recommended surge absorber
Manufacturer : SOSHIN ELECTRIC CO., LTD.
Type No.
: LT-C12G801WS
φ4
.3 +0
33.5
-0 .3
.1
4
25
±1.0
Status indicator
green : normal
red : abnormal
±1.0
Dimensional outline
19
±1.0
Wire (earth)
(Green/Yellow)
±1.0
4
22.5
±0.5
28
±1.0
250 -0
+25
Wire (line)
(Black)
38
±1.0
Unit: mm
23002-M1-00
vii
Important information before reading this manual
(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.
Important information before reading this manual
(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
92
(3.5)
82 ±0.5
2-φ4.8
Mounting hole
Protective earth (PE)
77
27
8
Input
15
Output
Input
12 45 ±0.5
53
Output
Type No. label
6-M4
Terminal block cover
Mounting plate
(2)
Terminal
block cover
41
* Terminal cover is closed
Tolerance: ±1
Unit: mm
23003-M1-00
(3) Ferrite core
Install ferrite cores according to the customer's final product (entire system).
Recommended ferrite cores are shown below.
• Recommended ferrite core 1
Manufacturer : TDK
Type No.
: ZCAT3035-1330
Dimensional outline
39.0±1
34.0±1
30.0±1
13.0±1
Unit: mm
23004-M1-00
• Recommended ferrite core 2
Manufacturer : TDK
Type No.
: ZCAT2132-1130
Dimensional outline
36.0±1
32.0±1
20.5±1
11.0±1
Unit: mm
23005-M1-00
viii
Safety cautions
Never enter the robot movement range during operation.
Entering the movement range while the robot is in motion could result in serious accidents
or death. A safety enclosure or area sensor with a gate interlock function should be installed
to keep all persons safely out of the robot's movement range.
Always turn the main power breaker OFF and establish an "emergency stop" status
before performing tasks within the robot's movement range.
Failing to do so could result in serious accidents, including injury or death. (See section 9 "Configuring
an emergency stop circuit" in Chapter 2. TS-S TS-S2 TS-SH ) (See section 10 "Configuring an
emergency stop circuit" and section 12 "Safety circuit construction example" in Chapter 2. TS-X TS-P )
The controller and robot were designed as general-purpose industrial equipment,
and cannot be used for the following applications.
· In medical equipment systems which are critical to human life.
· In systems which significantly affect society and the general public.
· In environments which are subject to vibration, such as aboard ships and vehicles.
For safety purposes, be sure to install an "emergency stop" circuit.
Use the controller's "emergency stop" input terminal to install a main power shutoff circuit
(required).
Additionally, add an appropriate enable device to the main power shutoff circuit as required.
• 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.
Usage in these environments could cause malfunctions and equipment failure.
Do not use in environments which are exposed to water, corrosive gases, metal
cutting chips, dust, or direct sunlight.
Usage in these environments could cause malfunctions and equipment failure.
Do not use in flammable or explosive environments.
Usage in these environments could hamper operating tasks, and could possibly cause injuries.
ix
Important information before reading this manual
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.
Also carefully read the safety cautions listed in the robot user's manual and follow all instructions given there.
• Installation environment
Important information before reading this manual
Provide ample space to ensure that tasks (teaching, inspections, etc.) can be
performed safely.
Failing to provide adequate space makes tasks difficult to perform, and can cause injuries.
Secure the equipment firmly to a non-flammable vertical wall of metal material.
The controller and the regenerative unit become hot during operation, and must be secured
to a metal wall in order to prevent the risk of fires.
Install in a well ventilated site with ample space around the equipment.
Failing to do so could cause malfunctions, equipment failure, and fires.
• 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.
Failing to do so could result in connector pin deformation, and internal PCB damage.
Handle cables with care to avoid damaging them.
Do not attempt to modify the cables, and avoid pulling them or placing heavy objects on
them. These actions could damage the cable, possibly resulting in malfunctions and
electrical shocks.
Be sure that cable connectors and terminals are fully inserted and securely fastened.
Tighten the fastening screws securely. Failing to do so could cause a poor connection, possibly
resulting in malfunctions.
Securely ground the power terminal block's ground terminal. TS-S TS-S2
Failing to do so could result in malfunctions or breakdowns.
TS-SH
Securely ground the power terminal block's ground terminal. TS-X TS-P
Failing to do so could result in electrical shocks.
• Operation and handling
The controller and the HT1 should be operated only by personnel who have
received safety and operation training.
Operation by an untrained person is extremely hazardous.
Set the payload, acceleration, and deceleration to appropriate values.
Payload, acceleration, and deceleration settings which differ greatly from the actual values
will result in operation time loss, shorten the robot life, and cause vibration. Be sure to set
them to appropriate values.
Do not enter the robot's movement range while power is supplied to the controller.
Doing so could result in a serious accident, injury, or death.
Do not touch the controller or robot during operation.
The controller and robot unit become hot during operation, and touching them could result
in burn injuries.
x
• Operation and handling
Do not touch or operate the controller or HT1 with wet hands.
Doing so could result in electrical shocks or equipment failure.
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.
Maintenance and inspections performed by a person who lacks the proper knowledge or
training is extremely hazardous.
Shut off the power to the controller before performing inspections and maintenance
tasks.
Shut off the power and wait at least 10 minutes before beginning the tasks.
Failing to do so could result in electrical shocks or burn injuries from touching areas which are still
hot or from touching components where a high-voltage condition remains for a short period after a
power OFF.
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.
Do not use solvents such as thinner, benzene, or alcohol, etc., to wipe (clean) the
HT1 surfaces.
Doing so can cause the surface sheet and printing to peel off, and can cause equipment
failure. The HT1 surface should be gently wiped with a soft, dry cloth.
Do not use a hard or pointed object to operate the HT1 keys.
Doing so could scratch the keys and cause malfunctions and equipment failure. The HT1
keys should be operated with the fingertips.
When disposing of this product, it must be handled as industrial waste.
Either dispose of the product in accordance with the local regulations, or engage a
commercial disposal service to handle the disposal.
xi
Important information before reading this manual
Do not remove the controller or HT1 covers, and do not attempt to disassemble or
modify them.
Doing so could result in fires or equipment failure.
Warranty
Important information before reading this manual
For information on the warranty period and terms, please contact our distributor where you purchased the
product.
■ ■ This warranty does not cover any failure caused by:
1.Installation, wiring, connection to other control devices, operating methods, inspection or maintenance that does not
comply with industry standards or instructions specified in the YAMAHA manual;
2.Usage that exceeded the specifications or standard performance shown in the YAMAHA manual;
3.Product usage other than intended by YAMAHA;
4.Storage, operating conditions and utilities that are outside the range specified in the manual;
5.Damage due to improper shipping or shipping methods;
6.Accident or collision damage;
7.Installation of other than genuine YAMAHA parts and/or accessories;
8.Modification to original parts or modifications not conforming to standard specifications designated by YAMAHA,
including customizing performed by YAMAHA in compliance with distributor or customer requests;
9.Pollution, salt damage, condensation;
10.Fires or natural disasters such as earthquakes, tsunamis, lightning strikes, wind and flood damage, etc;
11.Breakdown due to causes other than the above that are not the fault or responsibility of YAMAHA;
■ ■ The following cases are not covered under the warranty:
1.Products whose serial number or production date (month & year) cannot be verified.
2.Changes in software or internal data such as programs or points that were created or changed by the customer.
3.Products whose trouble cannot be reproduced or identified by YAMAHA.
4.Products utilized, for example, in radiological equipment, biological test equipment applications or for other purposes
whose warranty repairs are judged as hazardous by YAMAHA.
THE WARRANTY STATED HEREIN PROVIDED BY YAMAHA ONLY COVERS DEFECTS IN PRODUCTS
AND PARTS SOLD BY YAMAHA TO DISTRIBUTORS UNDER THIS AGREEMENT. ANY AND ALL OTHER
WARRANTIES OR LIABILITIES, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY IMPLIED
WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE ARE HEREBY EXPRESSLY
DISCLAIMED BY YAMAHA. MOREOVER, YAMAHA SHALL NOT BE HELD RESPONSIBLE FOR CONSEQUENT
OR INDIRECT DAMAGES IN ANY MANNER RELATING TO THE PRODUCT.
This manual does not serve as a guarantee of any industrial property rights or any other rights and
does not grant a license in any form. Please acknowledge that we bear no liability whatsoever for
any problems involving industrial property rights which may arise from the contents of this manual.
xii
Ver.1.01_201209
Chapter 1 Overview
Contents
1. Unpacking check
1-1
2. Part names and functions
1-2
3. System configuration
1-5
4. Installation and operation sequence
1-6
1. Unpacking check
1
The following accessories are shipped together with this product.
Accessories
Qty
Remarks
1 unit
Power connector
1 piece
With wire-release lever
1 piece
With wire-release lever
Dummy connector
1 piece
For COM1 connector
I/O cable
1 piece
For NPN and PNP
EXT connector
Absolute battery
TS-X TS-P
TS-X TS-SH
Overview
Controller
TS-X TS-P
1 piece
The accessories vary according to the shipment configuration. For details, contact YAMAHA or the sales outlet.
Example of package contents
Robot cable
HT1 (Option)
I/O cable
Controller main body
Robot main body
23101-M0-00
1-1
1
2. Par t names and functions
This section explains the part names and functions of the controller.
Part names and functions
TS-S2
Overview
TS-S
• Robot I/O setting label TS-S2
(BK, SENSOR)
Controller
• Communication connector 2
(COM2)
Connector for the daisy-chain
connection cable.
• Robot I/O connector (ROB I/O)
Connector for robot peripheral I/O
signals such as position and
brake signals, etc. and motor
power lines.
• I/O connector (I/O)
Connector type is selected (NPN,
PNP, CC-Link, DeviceNet, or
EtherNet/IP) when purchased.
• Power supply connector
Connector for main power and
control power input.
• Status indicator lamps
(PWR, ERR)
The controller status is indicated
by LED lamps.
• Serial No.
• Communication connector 1 (COM1)
Connector for connection to a
communication unit, such as HT1
or a personal computer.
• Rating nameplate
(on side face of unit body)
23101-M3-00
Part names and functions
TS-SH
Unit's top cover in
an open condition
• Communication connector 2
(COM2)
Connector for the daisy-chain
connection cable.
• Robot I/O setting label
(BK, SENSOR)
Controller
• Status indicator lamps
(PWR, ERR)
The controller status is indicated
by LED lamps.
• Serial No.
• Absolute battery
connector (BAT)
Connector for the
absolute battery
connection.
• Robot I/O connector (ROB I/O)
Connector for robot peripheral
I/O signals such as position and
brake signals, etc. and motor
power lines.
• I/O connector (I/O)
Connector type is selected
(NPN, PNP, CC-Link,
DeviceNet, or EtherNet/IP) when
purchased.
• Power supply connector
Connector for main power and
control power input.
• Communication connector 1 (COM1)
Connector for connection to a
communication unit, such as HT1
or a personal computer.
• Rating nameplate
(on side face of unit body)
23101-M5-00
1-2
Part names and functions
TS-X
TS-P
• Power supply connector
Connector for main power
and control power input.
• Serial No.
Unit's top cover in
an open condition
Controller
1
• Status indicator lamps
(PWR, ERR)
The controller status is indicated by
LED lamps.
Overview
• Rating nameplate
(on side face of unit body)
• Communication connector 1 (COM1)
Connector for connection to a
communication unit, such as HT1 or a
personal computer.
• Communication
connector 2 (COM2)
Connector for the daisy-chain
or LCD monitor connection.
• Absolute battery connector
(BAT)
Connector for the absolute
battery connection. (TS-X only)
• Regenerative unit connector
(RGEN)
Connector for the regenerative
unit connection.
• EXT connector
(bottom face of unit body)
Connector for brake power input and
external safety circuit inputs/outputs.
• Robot I/O connector (ROB I/O)
Dedicated connector for robot I/O
signals such as position signals and
origin sensor signals, etc.
• CHARGE lamp
This lamp is lit while the power is
supplied to the main power supply of
the controller. The lamp is lit
continuously while the voltage remains
in the controller even after the power
to the controller has been shut down.
Use the lighting status of this lamp as
reference that the voltage remains in
the controller.
• Motor connector (MOTOR)
Connector for the servo motor's power
line connection.
• I/O connector (I/O)
Connector type is selected (NPN, PNP,
CC-Link, DeviceNet, or EtherNet/IP)
when purchased.
23101-M1-00
CC-Link
L RUN LED
Green when lit.
L ERR. LED
Red when lit.
Communication
connector
SD LED
Orange when lit.
RD LED
Orange when lit.
TS-S, TS-S2, TS-SH
TS-X, TS-P
23102-M0-00
TIP
See Chapter 7 section 2.3, "CC-Link" for details of LED indicator lamp meanings.
1-3
DeviceNet
1
MS LED
Green/Red when lit.
Overview
Communication
connector
NS LED
Green/Red when lit.
TS-S, TS-S2, TS-SH
TS-X, TS-P
23103-M0-00
TIP
See Chapter 7 section 2.4, "DeviceNet" for details of LED indicator lamp meanings.
EtherNet/IP
NS LED
Green/Red when lit.
NS
Link/Activity 1 LED
Green when lit.
EtherNet connection
connector 1
Link/Activity 2 LED
Green when lit.
EtherNet connection
connector 2
MS
MS LED
Green/Red when lit.
23216-M0-00
TIP
See Chapter 7 section 2.5, "EtherNet/IP" for details of LED indicator lamp meanings.
1-4
3. System configuration
1
Connect a robot and PLC to the controller to configure a desired system.
The following shows connection examples.
System configuration diagram
TS-S, TS-S2,
TS-SH
Overview
• HT1 or support software
The HT1 and support software
(TS-Manager) and connection
cable are optional items.
HT1
TS-Manager
TS-X, TS-P
• RS-232C control
Personal computer, etc.
Personal computer, etc.
• Single-axis robot
TS-X
: FLIP-X series robot
TS-P
: PHASER series robot
TS-S, TS-S2 : TRANSERVO series robot (Except for SG07)
TS-SH
: TRANSERVO series robot
* For details about control target robots, refer to “1.2 List of
controlled robots” in Chapter 7.
FLIP-X series
PHASER series
• I/O control
Chuck, limit switch, and
PLC, etc.
TRANSERVO series
Chuck,
limit switch, etc.
External control
(PLC, etc.)
• Regenerative unit
The regenerative unit is an optional
item.
This regenerative unit model may
vary depending on the controller
model you are using.
RGT
RGU-2
RGEN
N
P
23104-M0-00
1-5
1
4. Installation and operation sequence
The basic sequence from controller installation to actual operation is shown below.
Installation and operation sequence
Overview
Chapter 2 ”Installation and wiring”
Installation
· Cable and connector wiring
and connection
· Ground connection
· Building the "emergency stop" circuit
Power ON
· Parameter setting
· Point data creation
· Robot operation check
JOG operation
Trial operation, adjustment, teaching
No
Operation
Chapter 4 "I/O signal functions"
Chapter 5 "Operation"
· Machine reference
check
Origin return
Alarm occurs?
Chapter 3 "Data setting"
· Payload setting
· Soft limit setting
· Verifying that operation can be executed from the host unit.
· Operation pattern and peripheral device matching
· Point data adjustment
Yes
Alarm cause correction
Chapter 6 "Troubleshooting"
· Check by LED status indications
· Check the alarm No.
· Correct the alarm cause
Chapter 4 "I/O signal functions"
Chapter 5 "Operation"
23105-M0-00
1-6
Chapter 2 Installation and wiring
Contents
1. Installation method
2-1
1.1
Controller main body
2-1
1.1.1
1.1.2
1.1.3
TS-S TS-S2 TS-X TS-P TS-SH Installation screws
2-1
2-2
2-2
1.2
Regenerative unit (RGT) TS-X
1.3
Regenerative unit (RGU-2) TS-P TS-P 2-3
2-3
2. Installation conditions
2-4
3. Wiring
2-5
3.1
Power supply connection TS-S
TS-S2
3.2
Power supply connection TS-X
TS-P 3.3
Malfunction prevention measures TS-X
TS-SH 2-5
2-7
TS-P 2-10
4. Connecting the robot
2-11
5. Connecting the communication unit
2-13
6. Connecting the regenerative unit TS-X
6.1
Connecting the RGT TS-X
6.2
Connecting the RGU-2 TS-P TS-P TS-P 7. Absolute battery TS-X
2-15
2-15
2-16
TS-SH 2-17
7.1
Connecting the absolute battery
2-17
7.2
Replacing the absolute battery
2-18
8. Connecting the I/O signals
2-19
9. Configuring an emergency stop circuit TS-S TS-S2 TS-SH 2-20
10. Configuring an emergency stop circuit TS-X
TS-P 2-21
10.1
EXT connector signal names and functions
2-21
10.2
Wiring and connecting the EXT connector
2-23
10.3
Circuit details
2-24
11. Connecting the I/O unit
2-25
12. Safety circuit construction example TS-X
TS-P 2-29
12.1
Performance level
2-29
12.2
Circuit configuration examples
2-30
1. Installation method
1.1
1.1.1
Controller main body
TS-S
TS-S2
TS-X
TS-P
2
Use the mounting screw holes to install the controller on a vertical wall in the manner shown below.
Installation of controller main body
Installation and wiring
TS-S, TS-S2
TS-X, TS-P
23201-M0-00
2-1
1.1.2
TS-SH
Use the mounting screw holes to install the controller on a vertical wall in the manner shown below or use the
rear groove and claw to install it on a DIN rail.
When using the mounting screw holes, it is necessary to remove the controller top cover before starting the
installation.
2
n
NOTE
Reattach the cover in place after installed.
When installing the controller on a DIN rail, hang the upper groove on the DIN rail and push the lower claw
into the DIN rail to secure the controller.
Installation and wiring
n
NOTE
After installed, make sure that the controller is secured to the DIN rail firmly. If not secured to the DIN rail firmly, this
may cause the controller to break or drop.
Installation of controller main body
Using the mounting screw holes
Installing the controller on a DIN rail
1
2
* Remove the controller top cover before
starting the work.
After installed, reattach the cover in place.
1. Hang the upper groove on a DIN rail.
2. Push the lower claw into the DIN rail to secure
the controller.
23201-M5-00
1.1.3 Installation screws
Use the following screw type for installation.
2-2
Controller Model
Mounting Area Thickness
Hole Dia.
Recommended Screw
Recommended Tightening Torque
TS-X, TS-P
4mm
φ 5.4
M5
1.5 N·m
TS-S, TS-S2
5mm
φ 4.5
M4
0.5 N·m
TS-SH
6mm
φ 4.5
M4
0.5 N·m
1.2
Regenerative unit (RGT) TS-X
TS-P
Use the back plate of the RGT to install it on a vertical wall in the manner shown below.
Installation of RGT
Back plate
2
23201-M1-00
■ ■ Installation screws
Use the following screw type for installation.
1.3
Mounting Area Thickness
Hole Dia.
Recommended Screw
Recommended Tightening Torque
2mm
φ 5.5
M5
1.5 N·m
Regenerative unit (RGU-2) TS-P
Use the L-shape mounting fixtures to install the RGU-2 on a vertical wall.
The L-shape fixtures are factory-attached to the front side prior to shipment, but they can be attached to the
rear side as shown in the figure below.
Installation of RGU-2
L-shape mounting fixture
RGEN
N
P
L-shape mounting fixture
23201-M2-00
■ ■ Installation screws
Use the following screw type for installation.
Mounting Area Thickness
Groove width
Recommended Screw
Recommended Tightening Torque
2mm
5.5mm
M5
1.5 N·m
2-3
Installation and wiring
RGEN
2. Installation conditions
This section explains the installation conditions necessary to operate the controller in safe and correct
manner.
■ ■ Installation location
2
Install the controller inside the control panel.
■ ■ Installation direction
Install the controller on a vertical wall.
Installation and wiring
■ ■ Surrounding space
Install the controller in a well ventilated location, with space on all sides of the controller (See the figure below.).
Surrounding space
TS-S, TS-S2, TS-SH
TS-X, TS-P
20mm
or more
10mm
or more
10mm
or more
20mm
or more
20mm
or more
20mm
or more
20mm
or more
20mm
or more
23202-M0-00
■ ■ Ambient operating temperature and humidity
The controller's ambient operating temperature and humidity must be maintained within the following ranges.
• Ambient temperature :0 to 40˚C
• Ambient humidity
:35 to 85% RH
(no condensation)
■ ■ Environments to be avoided
To ensure safe and correct controller operation, avoid using the controller in the following environments.
• Environments which contain corrosive gases such as sulfuric acid or hydrochloric acid, or where flammable gases and
liquids are present in the atmosphere.
• Environments with excessive dust.
• Environments which contain metal cutting chips, oil, and water, etc., from other machinery.
• Environments subject to excessive vibration.
• Environments where electromagnetic noise or electrostatic noise is generated.
• Environments exposed to direct sunlight.
c
2-4
CAUTION
• Do not install the controller upside down or at an angle. Doing so could reduce the cooling capacity and cause performance deterioration or malfunctions.
• Provide the prescribed spacing between the controller and the inner face of the control panel, and between the controller and other devices.
• Avoid using the controller in environments other than those specified. Usage in inappropriate environments could cause product deterioration and malfunctions.
3. Wiring
3.1
Power supply connection TS-S
TS-S2
TS-SH
Use the power connector supplied with the controller to connect the power supply.
■ ■ Power supply connector terminal names and functions
Power supply connector
2
Description
ES1
Emergency stop contact 1
ES2
Emergency stop contact 2
ES-
Emergency stop ready signal (open: emergency stop)
MP24V
Main power supply 24V
CP24V
Control power supply 24V
0V
Power supply 0V
Ground terminal
23201-M3-00
c
CAUTION
Always ground the ground terminal to prevent equipment malfunctions which may be caused by noise.
■ ■ Power supply connection examples
Power supply connection examples
Emergency stop circuit
AC/DC switching power supply, etc.
Main power
shutoff
contact *1
Controller
ES1
ES2
ESMP24V
+24V
0V
CP24V
0V
FG
*1 :T he main power supply constructs a shutoff circuit in conjunction with the emergency stop
contact to form an emergency stop circuit.
For details, refer to section 9, "Configuring an emergency stop circuit", in this Chapter.
23202-M3-00
c
CAUTION
Be sure that the power supply voltage and the terminal connections are correct. Incorrect voltage and
connections could cause an equipment failure.
■ ■ Power requirements
c
Voltage
24VDC ± 10%
Current
Control power supply 0.5A per unit
Main power supply
2A to 4A per unit TS-S TS-S2
3A to 6A per unit TS-SH
Recommended wire size
0.5 to 0.75 sq (AWG 20 to 18)
CAUTION
• If the current supplied to the controller is too low, alarm stop or abnormal operation may occur. Carefully select a 24V power supply that provides an adequate current capacity.
• Since the controller uses a capacitor input type power supply circuit, a large inrush current flows when the power is turned on. Do not use fast-blow circuit breakers and fuses. For the same reason, avoid turning the power off and on again repeatedly in intervals of less than 10 seconds. This could harm the main circuit elements in the controller.
2-5
Installation and wiring
ES1
ES2
ESMP24V
CP24V
0V
Signal name
■ ■ Considering generated heat amount
Use the following tables as a guide to determine the control panel size, controller installation method, and cooling means.
2
Model
Generated heat amount (W)
TS-S, TS-S2
18
TS-SH
25
■ ■ Signal Details
• Emergency stop READY signal (ES-)
This signal is used by the external safety circuit (e.g., safety enclosure, manual switch, etc.) in order to perform robot
emergency stops.
Installation and wiring
Signal Name
ES-
Description
Type
Emergency stop input (emergency stop READY signal)
Input
Explanation
An emergency stop status is established when this signal input is switched OFF, and a "servo OFF" status also occurs at
that time.
w
DANGER
Directly connecting a power supply (+24V) to ES- will disable external emergency stops (including
the Handy Terminal's emergency stop button), thereby creating an extremely hazardous condition.
Be sure to use a combination of ES-, ES1, and ES2 terminals in order to configure an emergency stop
circuit. (Refer to section 9, "Configuring an emergency stop circuit ".)
• Emergency stop contacts 1, 2 (ES1, ES2)
Signal
Name
Description
When using Handy Terminal without an ENABLE switch
When using Handy Terminal with an ENABLE switch
ES1
Handy Terminal's emergency stop contact output 1
Connected to Handy Terminal's safety connector Pin No.14
ES2
Handy Terminal's emergency stop contact output 2
Connected to Handy Terminal's safety connector Pin No.15
Explanation
When using a Handy Terminal which has no ENABLE switch, ES1 and ES2 serve as the Handy Terminal emergency stop
button's contact outputs.
When using a Handy Terminal which has an ENABLE switch, ES1 is connected to Handy Terminal's safety connector
Pin No.14, and ES2 is connected to Pin No.15.
ES1 and ES2 should be used when building an external safety circuit.
Load: 24VDC 300mA Max.
n
NOTE
ES1 and ES2 will be short-circuited if the accessory dummy connector is connected to COM1.
■ ■ Power supply connector wiring procedure
c
CAUTION
• Disconnect the power connector from the controller before wiring.
• Only one wire can be inserted into one wire hole of the power connector.
• When inserting the wire into the terminal, use care to prevent the core wire from making contact with other conductive parts.
• If the inserted portion of the wire is frayed, etc., cut off that portion and restrip the wire, then connect the wire securely.
The usable wire size is 0.5 to 0.75sq (AWG20 to 18). Strip the sheath from the wire and insert it as shown below.
Insert the core wire into the power supply connector's hole as shown below, then verify that the wire is locked (cannot
be pulled out).
Wiring method
Insert the wire while pushing the orange part.
2-6
23203-M3-00
3.2
Power supply connection TS-X
TS-P
Use the power connector supplied with the controller to connect the power supply.
■ ■ Power supply connector terminal names and functions
Power supply connector (TS-X 205, 210, 220
Signal Name
L
N
L1
Description
Control power input
200 to 230VAC ±10%, 50/60Hz
Consumption current
150mA MAX
Signal Name
N
NC
L1
N1
2
Main power input
200 to 230VAC ±10%, 50/60Hz
Power supply connector (TS-X 105, 110
L
200VAC specs.)
TS-P 105, 110
Installation and wiring
N1
TS-P 205, 210, 220
100VAC specs.)
Description
Main power input
100 to 115VAC ±10%, 50/60Hz
No connection
Control power input
100 to 115VAC ±10%, 50/60Hz
Consumption current
300mA MAX
■ ■ Power supply connection examples
For 200VAC power supply:
Controller
Wiring breaker
Noise filter
200VAC
Electromagnetic AC IN
contactor
L
N
Surge
absorber
L1
N1
23202-M1-00
For 100VAC power supply:
Controller
Wiring breaker
Noise filter
100VAC
Electromagnetic AC IN
contactor
L
N
NC
Surge
absorber
L1
N1
23203-M1-00
c
CAUTION
• Be sure that the power supply voltage and the terminal connections are correct. Incorrect voltage and connections could cause an equipment failure.
• Shut the control power off while in a "servo off" condition.
2-7
■ ■ Power supply connector wiring procedure
c
2
CAUTION
• Disconnect the power connector from the controller before wiring.
• Only one wire can be inserted into one wire hole of the power connector.
• When inserting the wire into the terminal, use care to prevent the core wire from making contact with other conductive parts.
• If the inserted portion of the wire is frayed, etc., cut off that portion and restrip the wire, then connect the wire securely.
The usable wire size is 1.25 to 2.5 sq (AWG16 to 12) or more. Strip the sheath from the wire and insert it as shown
below. (Please note that when wire of AWG 12 is used, it may not be connected depending on the sheath outer diameter.
Use either of the following methods to insert the core wire into the power supply connector's hole, then verify that the
wire is locked (cannot be pulled out).
Installation and wiring
Wiring method
Using a flat-blade screwdriver
Using the accessory
wire-release lever:
For 200VAC
N1
Wire-release lever
L1
N
L
For 100VAC
N
NC
L1
N1
L
23204-M1-00
■ ■ 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 100Ω or less) is required.
w
WARNING
Be sure that ground is securely connected.
Tighten the ground terminal screw to the torque shown below.
0.75N·m
Recommended Tightening Torque
■ ■ Considering power capacity and generated heat amount
The required power capacity and generated heat amount depend on the robot model.
Use the following tables as a guide to prepare a power supply and to determine the control panel size, controller
installation method, and cooling means.
Axis current sensor value
Power capacity (VA)
Generated heat amount (W)
5
400
20
10
600
25
20
1400
45
■ ■ Installing wiring breakers
Leakage breaker
The controller drives the motors by PWM control, thereby creating a high-frequency leakage current flow which could
cause external leakage breaker malfunctions. Therefore, when installing an external leakage current breaker, be sure to
select the optimum sensitivity current rating (I∆n). (Refer to the leakage breaker manufacturer's data sheets to select the
optimum product compatible with inverters.)
Power Supply Type
Leakage Current
Main power supply (L,N)
Total 1mA
Control power supply (L1, N1)
2-8
c
CAUTION
1. Leakage current is measured by a leak tester (Hioki Electric 3283), with the low-pass filter (100Hz) turned on.
2. When using multiple controllers, use the sum of the leakage currents from each controller.
3. Be sure that the controller is securely grounded.
4. Stray capacitance between the cable and the FG may vary depending on the cable installation condition, causing the leakage current to fluctuate.
Circuit protector
An inrush current (several times to 10 times the rated current) occurs at the instant the controller is turned on, or at the
instant robot motors begin to run. When installing an external circuit protector, select a circuit protector that provides
optimum operating characteristics. (Refer to the circuit protector manufacturer's data sheets when making the selection.)
200VAC
100VAC
Rated Current (Arms)
TS-X
TS-P
-X205
-P205
2
-X210
-P210
3
-X220
-P220
7
-X105
-P105
4
-X110
-P110
6
Recommended Characteristics
Medium to slow response type with
inertial delay
■ ■ Installing a surge absorber
Be sure to install an external surge absorber to protect the equipment from surge noise caused by lightning strikes.
Recommended Surge Absorber Model
LT-C12G801WS
Manufacturer
SOSHIN Electric Co., Ltd.
■ ■ 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.
TIP
Use the EXT connector to configure the emergency stop circuit. (Refer to section 10 "Configuring an emergency
stop circuit" and section 12 "Safety circuit construction example" in this chapter.
w
DANGER
Be sure to install an external main power shutoff circuit and an "emergency stop" circuit.
■ ■ Installing a noise filter
Install an external noise filter to suppress noise conductance to the power line.
Recommended Noise Filter Model
Manufacturer
NAP-10-472
Cosel Co., Ltd.
NF2010A-UP
SOSHIN Electric Co., Ltd.
2-9
Installation and wiring
Driver
Input Power Voltage
2
3.3
Malfunction prevention measures TS-X
TS-P
The following precautions must be taken to prevent noise related malfunctions.
■ ■ Installation of noise filter and ferrite core
Install a noise filter and ferrite core near the controller.
Do not bundle the noise filter's primary and secondary wires together.
2
Installation of noise filter
Bad example
Noise filter's primary and secondary wires are bundled together.
Installation and wiring
Primary
wire
Noise
filter
Secondary
wire
L
N
L1
Controller
N1
Ground wire
The ground wire and primary wire
are bundled together.
23205-M1-00
■ ■ Installation of surge absorbing circuit
A surge absorbing circuit must be installed at induction load (induction motor, solenoid valve, brake solenoid, relay, etc.)
coils which are located near the controller.
Surge absorbing circuit installation examples
(For solenoid valve and solenoid)
A
DC type
A: Diode, varistor, CR element
B
AC type
B: Varistor, CR element
23206-M1-00
2-10
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.
c
CAUTION
• Be sure to use the cable dedicated to the TS controller when connecting the robot.
• Shut the power off before connecting the cables.
• Insert the cable plug into the connector until a clicking sound is heard (fully inserted).
• Connect only the robot which is to be used.
• Always grasp the connector body when plugging in and unplugging the cables.
2
Installation and wiring
■ ■ Connection method
Connecting the robot
TS-S
TS-S2
TS-SH
Controller
Robot I/O connector
TRANSERVO series
23204-M3-00
Connecting the robot
TS-X
TS-P
Controller
Robot I/O connector (ROB I/O)
Motor connector (MOTOR)
TS-X
Single-axis robot
FLIP-X series
TS-P
PHASER series
23207-M1-00
2-11
■ ■ Robot I/O connector signal table
TS-S
TS-S2
TS-SH
Pin No.
Signal Name
1A
PS+
Resolver SIN input (+)
1B
PS-
Resolver SIN input (-)
2A
PC+
Resolver COS input (+)
2B
PC-
Resolver COS input (-)
3A
R+
Resolver excitation output (+)
3B
R-
Resolver excitation output (-)
4A
FG
4B
FG
5A
BK+/ORG*
5B
BK-/PG*
6A
A+
Motor "phase A" output (+)
6B
A-
Motor "phase A" output (-)
7A
ACOM
Motor "phase A" common
7B
BCOM
Motor "phase B" common
8A
B+
Motor "phase B" output (+)
8B
B-
Motor "phase B" output (+)
2
Description
Frame ground
Installation and wiring
Brake signal (+)/Origin sensor signal input
Brake signal (-)/Origin sensor power 0V
* BK+ and BK- become ORG and PG, respectively only when the robot I/O setting is set
at "SENSOR".
TS-X
Pin No.
Signal Name
Description
1
PS+
Resolver SIN input (+)
2
PS-
Resolver SIN input (-)
3
PC+
Resolver COS input (+)
4
PC-
Resolver COS input (-)
5
R+
Resolver excitation output (+)
6
R-
Resolver excitation output (-)
7
FG
Frame ground
8
NC
9
NC
No connection
10
PG
Origin sensor power 0V
11
+24V
Origin sensor power 24V
12
ORG
Origin sensor signal input
13
BK+
Brake signal (+)
14
BK-
Brake signal (-)
Pin No.
Signal Name
1
PS +
Position SIN input (+)
2
PS –
Position SIN input (–)
3
PC +
Position COS input (+)
4
PC –
Position COS input (–)
5
+5V
+5V
6
GND
GND
TS-P
2-12
Description
7
FG
Frame ground
8
Z+
Linear scale Z +
9
Z–
Linear scale Z –
10
PG
Origin sensor power 0V
11
+24V
Origin sensor power 24V
12
ORG
Origin sensor signal input
13
BK +
Brake signal (+)
14
BK –
Brake signal (-)
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.
• Connection with a communication device, such as a personal computer requires a separate communication connection
cable.
c
■ ■ Connecting the controller to the HT1
c
CAUTION
• Do not modify the connection cable. This can cause communication errors and equipment failure.
• Always grasp the connector body when connecting/disconnecting the connection cable at the controller. Pulling on the cable can cause an equipment failure.
• An incorrectly inserted connector or poor contact condition can cause malfunctions or equipment failure. Be sure that the connector is correctly and securely connected.
• When disconnecting the connector from the controller, pull the connector straight out to avoid bending the connector pins.
Connecting to the HT1
Communication connector 1 (COM1)
HT1
Press the cable's connector straight
into the COM1 connector after
aligning its arrow mark with the
COM1 connector's triangular mark
(on left side, as viewed when facing
the unit).
TS-S, TS-S2,
TS-SH
TS-X, TS-P
Grasp the connector when inserting
23203-M0-00
2-13
2
Installation and wiring
CAUTION
Be sure to turn off the controller power when connecting or disconnecting the communication connector
(COM1).
When connecting or disconnecting the communication connector (COM1) with the power turned on, this may
cause the internal circuit to break. Additionally, when disconnecting the communication cable, HT1, or dummy
connector with the controller power turned on, the controller enters the emergency stop state and the robot
servo turns off.
■ ■ Connecting the controller to a communication device
Make this connection by using the optional communication cable (dedicated cable) for connection to a communication
device, such as a personal computer.
c
2
Installation and wiring
CAUTION
• 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.
• Do not modify the communication cable. This can cause communication errors and equipment failure.
• Always grasp the connector body when connecting/disconnecting the communication cable at the controller.
Pulling on the cable can cause equipment failure or breaking of wire.
• An incorrectly inserted connector or poor contact condition can cause malfunctions or equipment failure.
Be sure that the connector is correctly and securely connected.
• When disconnecting the connector from the controller, pull the connector straight out to avoid bending the connector pins.
• An emergency stop occurs if the communication cable (or Handy Terminal cable) is unplugged while the controller power is on, and a "servo off" status is established at the robot.
Communication device connection
Communication connector 1 (COM1)
Personal computer, etc.
Communication cable
TS-S, TS-S2, TS-X, TS-P
TS-SH
23204-M0-00
■ ■ 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.
c
CAUTION
• An incorrectly inserted connector or poor contact condition can cause malfunctions or equipment failure.
Be sure that the connector is correctly and securely connected.
• When disconnecting the connector from the controller, pull the connector straight out to avoid bending the connector pins.
• If the dummy connector is disconnected with the power to the controller turned on, an emergency stop occurs and the robot enters the servo off status.
Dummy connector connection
Dummy connector
TS-S, TS-S2, TS-X, TS-P
TS-SH
2-14
23205-M0-00
6. Connecting the regenerative unit TS-X
TS-P
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.
6.1
Connecting the RGT TS-X
2
TS-P
The following explains how to connect the RGT.
CAUTION
• The power must be off when connecting the regenerative unit.
• Insert the cable plug into the connector until a clicking sound is heard (fully inserted).
• Install the regenerative unit in a well ventilated location with ample peripheral space (20mm or more).
Connecting the RGT
Controller
RGT
20mm
or more
Dedicated
cable
Ground terminal
23208-M1-00
■ ■ 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 100Ω or less) is required.
w
WARNING
Be sure that ground is securely connected.
Tighten the ground terminal screw to the torque shown below.
Recommended Tightening Torque
0.75N·m
2-15
Installation and wiring
c
6.2
Connecting the RGU-2 TS-P
The following explains how to connect the RGU-2.
c
2
CAUTION
• The power must be off when connecting the regenerative unit.
• Insert the cable plug into the connector until a clicking sound is heard (fully inserted).
• Install the regenerative unit in a well ventilated location with ample peripheral space (20mm or more).
• Be sure to connect the round terminal of the cable dedicated to the RGU-2 to the ground terminal of the controller securely.
Connecting the RGU-2
Installation and wiring
RGU-2
Controller
N
P
20mm
or more
L
COM1
N
L1
200V
N1
ROB
I/O
CHARGE
Dedicated
cable
MOTOR
I/O
RGEN
23202-M2-00
2-16
7. Absolute batter y TS-X
TS-SH
The absolute battery is used to retain robot position data.
7.1
Connecting the absolute batter y
To install the battery, first connect its cable to the BAT connector inside the panel, then install the battery.
c
CAUTION
• Plug in and unplug the battery cable while grasping the connector body.
2
• When closing the cover, be careful so that the absolute battery cable is not pinched by the cover.
Installation and wiring
Connecting the absolute battery
TS-X
23209-M1-00
Connecting the absolute battery
TS-SH
23202-M5-00
2-17
7.2
Replacing the absolute batter y
The absolute battery is a consumable item, and should be replaced when data backup problems occur (battery
life expired).
Although the battery life varies depending on the operating conditions, a general guideline is 8,000 hours
(about one (1) year) (when left with the power turned off after connected to the controller).
Battery specification
3.6V 1650mAh
Battery model (for ordering)
KCA-M53G0-10
Battery specification
3.6V 2750mAh
Battery model (for ordering)
KCA-M53G0-01
TS-X
2
TS-SH
Installation and wiring
■ ■ Replacing the absolute batter y with the power to the controller turned on
c
CAUTION
• Before replacing the absolute battery, be sure to put the robot in the safe state (emergency stop state).
• Since the power to the controller is turned on (electrically live state), replace the absolute battery with great care.
• If the absolute battery is replaced with the robot cable disconnected when replacing the battery with the power to the controller turned on, the robot enters the return-to-origin incomplete state.
■ ■ Replacing the absolute batter y with the power to the controller turned off
c
2-18
CAUTION
If the absolute battery is replaced with the power to the controller turned off, “8A ABS. BATTERY ERR.” occurs and
the robot enters the return-to-origin incomplete state.
8. Connecting the I/O signals
Two types of I/O signal connections (I/O and EXT I/O TS-X
device such as a PLC.
TS-P ) are provided for connection to external
I/O wiring diagram
TS-S
TS-S2
Controller
TS-SH
+COM
POUT0
Power connector
ES1
ES2
ES−
MP24V
CP24V
Power supply 0V
Frame ground
0V
OUT3
BUSY
END
/ALM
SRV-S
PIN0
Point No. outputs
POUT 0 to 7
Installation and wiring
POUT7
OUT0
"Emergency stop" contact 1
"Emergency stop" contact 2
"Emergency stop" READY signal
Main power input
Control power input
24V DC
2
I/O(NPN)
24V DC
I/O power + common
Control outputs
OUT 0 to 3
Operation-in-progress
End-of-operation
Alarm
Servo status
PIN 0 to 7
Point No. selection
PIN7
JOG+
JOG−
MANUAL
ORG
/LOCK
START
RESET
SERVO
JOG movement (+)
JOG movement (-)
MANUAL mode
Return-to-origin
Interlock
Start
Reset
Servo ON
−COM
I/O power common
23205-M3-00
I/O wiring diagram
TS-X
Controller
TS-P
+COM
POUT0
Control power input
L1
N1
Main power input
L
N
Internal power for
"emergency stop" input
"Emergency stop" contact 1
"Emergency stop" contact 2
Main power input
READY output contact
"Emergency stop" READY signal
EXT
DC24V
DC24V
* Mechanical brake power input
(TS-X only)
* When using a brake-equipped robot.
ES+
ES1
ES2
MPRDY2
MPRDY1
ES+24V
0V
POUT7
OUT0
OUT3
BUSY
END
/ALM
SRV-S
PIN0
I/O (NPN) DC24V
I/O power + common
Point No. outputs
POUT 0 to 7
Control outputs
OUT 0 to 3
Operation-in-progress
End-of-operation
Alarm
Servo status
PIN 0 to 7
Point No. selection
PIN7
JOG+
JOGMANUAL
ORG
/LOCK
START
RESET
SERVO
JOG movement (+)
JOG movement (-)
MANUAL mode
Return-to-origin
Interlock
Start
Reset
Servo ON
-COM
I/O power common
23210-M1-00
c
CAUTION
The above wiring diagram applies to an NPN type I/O unit. The wiring for PNP and serial I/O differs from the above
diagram.
2-19
9. Configuring an emergency stop circuit TS-S TS-S2 TS-SH
The power supply connector provides functions for configuring safety circuits, including the robot. The
following shows a power connector and host unit connection example.
Emergency stop circuit
2
Controller
COM1
Installation and wiring
Handy Terminal
External 24V
External
"emergency stop"
ES1
ES2
ESMP24V
CP24V
0V
External 0V
ES
Status
Internal
GND
External 0V
23206-M3-00
w
w
DANGER
In order to flexibly accommodate the various safety categories required by customers, this
controller is not equipped with an internal main power shutoff circuit.
Therefore, be sure to install an external main power shutoff circuit and an "emergency stop" circuit.
DANGER
Directly connecting a power supply (+24V) to ES- will disable external emergency stops (including the
Handy Terminal's emergency stop button), thereby creating an extremely hazardous condition. Be sure
to use a combination of ES-, ES1, and ES2 terminals in order to configure an emergency stop circuit.
Emergency stop circuit connected in daisy chain
Controller
Controller
COM1
Controller
COM1
COM1
Handy Terminal
External 24V External 24V
ES1
ES2
ESMP24V
CP24V
0V
External 0V
External 0V
External 24V
External 24V
ES1
ES2
ESMP24V
CP24V
0V
ES
status
Internal
GND
External 0V
Internal
GND
External 0V
ES
status
Internal
GND
External 0V
External 0V
*2
ES1
ES2
ESMP24V
CP24V
0V
ES
status
*2
*2
External
"emergency
stop"
External 24V
*1
External 0V
Relay
23207-M3-00
w
c
2-20
DANGER
In order to flexibly accommodate the various safety categories required by customers, this
controller is not equipped with an internal main power shutoff circuit.
Be sure to configure an external main power shutoff circuit to form an emergency stop circuit.
CAUTION
• Be sure to check the contact capacity of the relay contact. If the capacity is insufficient, use multiple contacts as needed. (*1 in the diagram)
• Connect a load with a current of 300 mA or less to the emergency stop wiring using ES1 and ES2. If a load with a current of more than 300 mA is connected or if a current of more than 300 mA flows without connecting any load, the controller may malfunction. (*2 in the diagram.)
10. Configuring an emergency stop circuit TS-X TS-P
The EXT connector provides functions for configuring safety circuits, including the robot.
The following shows the EXT connector wiring and an example of connection with the host controller.
10.1 EXT connector signal names and functions
The following explains the EXT connector signal names and functions.
The EXT connector contains the robot's external safety circuit signals used for safe stops, and for the brake
power supply terminal on robots equipped with brakes.
EXT connector
Pin No.
Signal Name
1
+24V
2
0V
3
ES+
1
3
8 7
6
5
2
4
Description
Power input for mechanical brake
(TS-X only)
Internal power for emergency stop input
4
ES1
Emergency stop contact 1
5
ES2
Emergency stop contact 2
6
ES-
Emergency stop READY signal
7
MPRDY1
8
MPRDY2
"Main power input READY" output contact
23211-M1-00
■ ■ Signal Details
• Power input for mechanical brake (+24V, 0V)
This input supplies power for the mechanical brake.
Signal Name
+24V
0V
Description
Power input for mechanical brake
Type
Input
Explanation
When using a brake-equipped robot, this terminal serves as the 24VDC input to power the brake. If the robot has no
brake, this terminal connection is not required.
Brake power supply: 24VDC ± 10% 300mA
• 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
ES+
Internal power for emergency stop input
ES-
Emergency stop input (emergency stop READY signal)
Type
Output
Input
Explanation
An emergency stop status is established when the relay contact between ES+ and ES- is open (OFF), and a "servo OFF"
status also occurs at that time.
w
DANGER
Directly short-circuiting the EXT connectors ES+ and ES- signals will disable external emergency
stops (including the Handy Terminal's emergency stop button), thereby creating an extremely
hazardous condition. Be sure to use ES+ and ES- so that the external safety circuit functions
properly.
2-21
Installation and wiring
■ ■ Signal List
2
• Emergency stop contacts 1, 2 (ES1, ES2)
Signal
Name
2
Description
When using Handy Terminal without an ENABLE switch
When using Handy Terminal with an ENABLE switch
ES1
Handy Terminal's emergency stop contact output 1
Connected to Handy Terminal's safety connector Pin No.14
ES2
Handy Terminal's emergency stop contact output 2
Connected to Handy Terminal's safety connector Pin No.15
Explanation
Installation and wiring
When using a Handy Terminal which has no ENABLE switch, ES1 and ES2 serve as the Handy Terminal emergency stop
button's contact outputs.
When using a Handy Terminal which has an ENABLE switch, ES1 is connected to Handy Terminal's safety connector
Pin No.14, and ES2 is connected to Pin No.15.
ES1 and ES2 should be used when building an external safety circuit.
Load: 24VDC 300mA Max.
n
NOTE
ES1 and ES2 will be short-circuited if the accessory dummy connector is connected to COM1.
• "Main power input READY" output contacts (MPRDY1, MPRDY2)
These signals are ON when a main power input is enabled.
Signal Name
Description
MPRDY1
Type
Transistor input
Input
"Main power input READY" output
MPRDY2
Transistor output
Output
Explanation
These signals switch OFF when an error alarm (internal cause) occurs. Use these signals for the external safety circuit's
main power ON/OFF condition judgments, etc.
Load: 24VDC 300mA Max.
2-22
10.2 Wiring and connecting the EXT connector
This section explains the EXT connector wiring and connecting methods.
■ ■ EXT connector wiring method
c
CAUTION
• Disconnect the EXT connector from the controller before wiring.
• Only one wire can be inserted into one wire port of the EXT connector.
• When inserting the wire into the terminal, use care to prevent the core wire from making contact with other conductive parts.
• If the inserted portion of the wire is frayed, etc., cut off that portion and restrip the wire, then connect the wire securely.
Wiring method
Using the dedicated tool
Using a flat-blade screwdriver
Dedicated tool
Insert the dedicated tool into the upper operation
slot to open the spring.
Insert the stripped wire into the wire insertion port
until it is in contact with the back wall of the port.
Insert the screwdriver into the slot at the upper
portion of the connector. While pushing the
spring downward using the screwdriver, insert
the stripped wire into the wire port.
23212-M1-00
■ ■ Connecting the EXT connector
Connect the wired connector to the controller.
c
CAUTION
Always grasp the connector body when plugging in and unplugging the cable.
Connecting to the EXT connector
EXT connector
Controller
(Bottom face)
23213-M1-00
2-23
Installation and wiring
The usable wire size is AWG28 to 20 and its maximum outside diameter of the sheath is F2.2 mm. Strip the wire sheath 5
to 6 mm and use it as it is.
Use either of the methods as shown in the figure below to insert the core wire into the opening in EXT connector and
perform the wiring.
After the wiring has been completed, pull the wire lightly to verify that the wire is locked. (At this time, do not pull the
wire strongly.)
2
10.3 Circuit details
The following shows an EXT connector and host unit connection example.
Safety circuit
TS-X
TS-P
Controller
COM1
2
Handy Terminal
ES
Status
L1
N1
Internal
GND
NO
Internal
power
NC
12345678
+24V
0V
ES+
ES1
ES2
ESMPRDY1
MPRDY2
External
"emergency
stop"
External
0V
EXT connector
External 24V
23214-M1-00
w
c
DANGER
In order to flexibly accommodate the various safety categories required by customers, this
controller is not equipped with an internal main power shutoff circuit.
Therefore, be sure to install an external main power shutoff circuit and an "emergency stop" circuit.
CAUTION
Be sure to install a surge absorber unit at the electromagnetic contactor's coil.
Safety circuits connected in daisy chain
TS-X
TS-P
Controller
Controller
Controller
COM1
ES
status
Internal
power
NO
External 24V
EXT connector
ES+
External 0V
Internal GND
External 0V
*2
L
N
Internal
power
NO
NC
ES1
NC
ES
status
LC1D09BD
L
N
Internal GND
Internal
power
NC
EXT connector
NO
LC1D09BD
Internal GND
ES+
ES1
ES2
ESMPRDY1
MPRDY2
N
ES
status
External 0V
EXT connector
L1
N1
LC1D09BD
L
ES+
ES1
ES2
ESMPRDY1
MPRDY2
Handy Terminal
ES2
ESMPRDY1
MPRDY2
Installation and wiring
L
N
*2
External 24V
*1
External 0V
Relay
23215-M1-00
w
c
2-24
DANGER
In order to flexibly accommodate the various safety categories required by customers, this
controller is not equipped with an internal main power shutoff circuit.
Be sure to configure an external main power shutoff circuit to form an emergency stop circuit.
CAUTION
• Be sure to check the contact capacity of the relay contact. If the capacity is insufficient, use multiple contacts as needed. (*1 in the diagram)
• Connect a load with a current of 300 mA or less to the emergency stop wiring using ES1 and ES2. If a load with a current of more than 300 mA is connected or if a current of more than 300 mA flows without connecting any load, the controller may malfunction. (*2 in the diagram.)
11. Connecting the I/O unit
When purchasing the controller, a desired I/O unit can be selected from the NPN, PNP, CC-Link, DeviceNet
and EtherNet/IP.
The positioning or push operation can be controlled from the host unit, such as PLC through the I/O unit.
■ ■ Parallel I/O (NPN type and PNP type)
2
Connecting a parallel I/O
TS-X, TS-P
I/O connector
23206-M0-00
c
CAUTION
• Use care to avoid incorrect terminal connections and short-circuits between terminals when performing the wiring work. Incorrect wiring could damage the controller. Carefully verify the terminal arrangement, using care to avoid short-circuits between terminals.
• The color of the cables for I/O power input (+COM) and point number outputs 0 and 1 (POUT0 and POUT1) is identical. Make the wiring, being careful not to confuse their connections. Wrong wiring may damage the controller.
Item
Signal
Name
Terminal
No.
Terminal
No.
Brown
POUT0
B1
A1
Signal
Name
+COM
Color
Content
Brown
I/O power input, positive
common (24VDC ±10%)
Red
POUT1
B2
A2
Orange
POUT2
B3
A3
Yellow
POUT3
B4
A4
Green
POUT4
B5
A5
PIN0
Blue
POUT5
B6
A6
PIN1
Blue
Purple
POUT6
B7
A7
PIN2
Purple
Gray
POUT7
B8
A8
PIN3
Gray
White
OUT0
B9
A9
PIN4
White
Control output 1
Black
OUT1
B10
A10
PIN5
Black
Control output 2
Brown
OUT2
B11
A11
PIN6
Brown
Point No. outputs
0 to 7
Control output 0
" " mark is at the
top of terminal
No. A1.
B1
A1
NC
Red
Orange
No connection
Yellow
Green
Point No. selections
0 to 7
Control output 3
Red
OUT3
B12
A12
PIN7
Red
Operation in progress
Orange
BUSY
B13
A13
JOG+
Orange
End of operation
Yellow
END
B14
A14
JOG-
Yellow
Alarm
Green
/ALM
B15
A15
MANUAL
Green
MANUAL mode
Servo status
Blue
SRV-S
B16
A16
ORG
Blue
Return-to-origin
B17
A17
/LOCK
Purple
Interlock
B18
A18
START
Gray
Start
B19
A19
RESET
White
Reset
B20
A20
SERVO
Black
Servo ON
No connection
I/O power input,
negative common (0V)
Purple
Gray
White
Black
NC
-COM
B20
A20
Inputs
Outputs
Color
JOG movement (+)
JOG movement (-)
23207-M0-00
2-25
Installation and wiring
TS-S, TS-S2,
TS-SH
■ ■ NPN type I/O circuit details
Input circuit
+COM
24VDC
2
4.7kΩ
Input
Logic
circuit
Internal
circuit
-COM
23208-M0-00
Installation and wiring
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
Internal
circuit
Logic
circuit
Output
Load
24VDC
-COM
23209-M0-00
Type : NPN open collector output
(Minus common type)
Photo-coupler isolation format
Load : 24VDC, 50mA per point
■ ■ PNP type I/O circuit details
Input circuit
+COM
Input
24VDC
4.7kΩ
-COM
Internal
circuit
Logic
circuit
23210-M0-00
Type : DC input (minus common type)
Photo-coupler isolation format
Load : 24VDC ± 10%, 5.5mA
ON voltage :19.6Vmin (4.5mA)
OFF voltage:4.9Vmax (1.1mA)
Output circuit
+COM
24VDC
Internal
circuit
Logic
circuit
Output
-COM
Load
23211-M0-00
Type : PNP open collector output
(Plus common type)
Photo-coupler isolation format
Load : 24VDC, 50mA per point
2-26
■ ■ CC-Link
Terminal arrangement and connector specifications
No.
Name
1
DA
5 4 3 2 1
2
DB
3
DG
4
NC
5
SLD
23212-M0-00
2
Connection method
TS-X, TS-P
CC-Link connector
Jump socket
23213-M0-00
n
NOTE
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. For details, refer to the instruction
manual for the Ver.1.10 compatible master station PLC.
■ ■ DeviceNet
Terminal array and connector specifications
No.
1
2
3
4
Name
1
V-
(Black)
2
CAN_L
(Blue)
3
Shield
4
CAN_H (White)
5
V+
(Red)
5
23214-M0-00
Connection method
TS-S, TS-S2,
TS-SH
TS-X, TS-P
DeviceNet connector
23215-M0-00
2-27
Installation and wiring
TS-S, TS-S2,
TS-SH
■ ■ EtherNet/IP
Terminal assignments and connector specifications
Number
Name
1
TD+
8
2
1
RJ45 8-pin
Modular connector
(Controller side)
2
TD-
3
RD+
4
-
5
-
6
RD-
7
-
8
-
Installation and wiring
23217-M0-00
Cable specifications
STP cable (double shield) with CAT5e or more
The customer must prepare an appropriate cable.
23218-M0-00
Connection method
As the 2-Port switch is installed on the EtherNet/IP unit, the line type or ring type topology communication
becomes possible. So, a system can be constructed without using an expensive external switch.
Max. 100 m
Host unit
(EtherNet/IP scanner)
TS series
TS series
23219-M0-00
2-28
12. Safety circuit construction example TS-X TS-P
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 12.2, "Circuit configuration examples", in order to use single-axis robots more safely.
12.1 Performance level
■ ■ Major factors that determine performance levels
1.Category
2.MTTFd (Mean Time To Dangerous Failure)
3.DCavg (Average Diagnostic Coverage)
4.CCF (Common Cause Failure) : Checklist score > 65 ?
(Please obtain the data on each component from the component manufacturer.)
The performance level (PL) of a safety circuit is determined by the following flow.
■ ■ Flow for determining performance levels
1.Determine the "performance level (PLr) required of the safety circuit" by means of risk assessment.
2.Configure the safety circuit that satisfies the requirements of the category that meets PLr.
3.Calculate the safety circuit's "performance level (PL)" from the MTTFd, DCavg, and CCF of the devices used for the
safety circuit, and then make sure that the calculated PL is equal to or higher than the "performance level (PLr)
required of the safety circuit" (PLr ≤ PL).
In the customer's final system, the performance level (PLr) required of the safety circuit should be
determined by means of risk assessment, and then the safety circuit with the corresponding performance
level (PL) should be configured.
■ ■ Safety parts subject to performance level calculation
The table below shows the safety parts and B10d reference values.
c
CAUTION
Please obtain the latest information from the parts manufacturers.
Parts Name
HT1
Model Name
Manufacturer
B10d
Emergency stop button
HA1E-V2S2R-TK2354
IDEC
1×10 5
Emergency stop button
HA1E-V2S2R-TK2354
IDEC
1×10 5
Enable switch
A4E-B200HS
OMRON
1×10 5
HT1-D
2-29
2
Installation and wiring
To comply with the machinery directives, the "performance level (PL)" required of the safety circuit must be
evaluated.
Performance levels (PL) are determined by the following parameters:
12.2 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.
This example uses the following input/output signals.
2
Input
Output
Installation and wiring
c
Reset switch, maintenance mode switch, door switch, external emergency stop
Handy Terminal emergency stop output, ENABLE output
CAUTION
• Alarm (/ALM) signals (parallel I/O output signals) must be monitored at the host. Serial I/O alarm (/ALM) signals
must also be monitored at the host.
• Depending on the customer system requirements, it may be necessary to build a host system which shuts off the main power when an alarm (/ALM) occurs.
General connection diagram (Handy Terminal with ENABLE switch)
Emergency stop
1 2 3 4
HT1-D
ENABLE
5 6 7 8
14 15
7 8
SAFETY
COM1
Reset
Maintenance
ES2
Connection
check
AC
OUT
Safety circuit
Door
MPRDY
External
emergency stop
AC IN
+24V ES1
L1
N1
Controller
7 8
L1
N1
L
N
MPRDY E-STOP
Status
+5V Status
Internal
+24V
GND
24V_GND
Safety output
+24V
OUT
ES1
ES2
4 5
EXT
7
8
3
6
EXT
ES1
ES2
MPRDY1
MPRDY2
ES+
ES23216-M1-00
2-30
TIP: For Handy Terminal without an ENABLE switch (Category B)
HT1
Emergency stop
2
7 8
L1
N1
L
N
L1
AC IN N1
Controller
7 8
MPRDY E-STOP
Status
+5V Status
Internal
+24V
External
emergency stop
ES1
ES2
4 5
GND
GND
24V_GND
7
+24V
8
3
6
EXT
23217-M1-00
2-31
Installation and wiring
COM1
■ ■ Categor y 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
KM1
2
AC IN
KM2
L1
N1
L
AC OUT
N
Reset switch
S1
Installation and wiring
EXT
SRL1
13
23
T23 14
24
T11
T12
T21
T22
11
12
21
22
GND
GND
ES+
T31 T32 33
B 34
A
ES-
+24V
+24V
KA1
GND
MPRDY1
MPRDY2
Maintenance switch
S2
Maintenance 11
Maintenance 12
11 21
Maintenance 21
Maintenance 22
Input 1
Input 2
GND
KA2
SRL2
Door switch
S3
T11
T12
T21
T22
Input 1
Input 2
SRL3
13 23 T31 T32
Maintenance 11
Maintenance 12
Maintenance 21
Maintenance 22
T11
T12
T21
T22
T23 14 24 A
T23 14 24 A B
SRL4
External emergency stop
S4
T11
T12
T21
T22
Input 1
Input 2
13 23 T31 T32 33
B
34
S_ES2
13 23 T31 T32
T23 14 24 A B
SAFETY
SRL5
HT1-D emergency stop
T11
T12
T21
T22
Input 1
Input 2
13 23 T31 T32
ES2
ES1
OUT
HT1-D emergency stop
33
34
43
44
Output 1
Output 2
T23 14 24 A B
SRL6
HT1-D ENABLE
T11
T12
T21
T22
Input 1
Input 2
+24V
ES1
ES2
13 23 T31 T32
HT1-D ENABLE
33
34
43
44
Output 1
Output 2
T23 14 24 A B
S_ES2
12
22
23218-M1-00
Parts Table
Circuit No.
Part Name
Type
Manufacturer
S1
Reset switch
A22 series
S2
Key-selector switch
A22TK series
Omron
Omron
S3
Safety door switch
D4 series
Omron
S4
Emergency stop switch
A22E series
Omron
KM1, 2 *
Contactor (mirror contact)
LC1-D09
Schneider Electric
Safety relay
G7SA-3A1B
Omron
KA1, 2
Safety relay socket
P7SA-10F-ND
Omron
SRL1 to 4
Safety relay unit
G9SA-301
Omron
SRL5, 6
Safety relay unit
G9SA-501
Omron
* Built-in surge killer
2-32
For category 3
KM1
KM2
L1
AC IN
N1
L
AC OUT
N
Reset switch
S1
2
EXT
SRL1
13
23
T23 14
24
T11
T12
T21
T22
GND
ES+
T31 T32 33
A
B 34
ES-
+24V
+24V
KA1
GND
MPRDY1
MPRDY2
Maintenance switch
S2
Maintenance 11
Maintenance 12
11 21
Maintenance 21
Maintenance 22
Input 1
Input 2
GND
KA2
SRL2
Door switch
S3
Maintenance 11
Maintenance 12
Maintenance 21
Maintenance 22
Input 1
Input 2
T11
T12
T21
T22
13 23 T31 T32 33
T23 14 24 A
B 34
S_ES2
External emergency stop
S4
Installation and wiring
11
12
21
22
GND
ES2
ES1
Input 1
Input 2
SAFETY
OUT
SRL3
HT1-D emergency stop
T11
T12
T21
T22
Input 1
Input 2
13 23 T31 T32
HT1-D emergency stop
33
34
43
44
Output 1
Output 2
T23 14 24 A B
HT1-D ENABLE
Input 1
Input 2
SRL4
T11
T12
T21
T22
+24V
ES1
ES2
13 23 T31 T32
HT1-D ENABLE
33
34
43
44
Output 1
Output 2
T23 14 24 A B
S_ES2
12 22
23219-M1-00
Parts Table
Circuit No.
Part Name
Type
Manufacturer
S1
Reset switch
A22 series
Omron
S2
Key-selector switch
A22TK series
Omron
S3
Safety door switch
D4 series
Omron
S4
Emergency stop switch
A22E series
Omron
KM1, 2 *
Contactor (mirror contact)
LC1-D09
Schneider Electric
Safety relay
G7SA-3A1B
Omron
Safety relay socket
P7SA-10F-ND
Omron
SRL1, 2
Safety relay unit
G9SA-301
Omron
SRL3, 4
Safety relay unit
G9SA-501
Omron
KA1, 2
* Built-in surge killer
2-33
For category 2
KM1
L1
AC IN
N1
L
AC OUT
N
Reset switch
S1
2
EXT
SRL1
T11
T12
T21
T22
11
12
GND
ES+
13
T31 T 32 23
Installation and wiring
T23 14
A
B 24
ES-
+24V
+24V
KA1
GND
MPRDY1
MPRDY2
Maintenance switch
Maintenance 11
Maintenance 12
S2 Input 1
11
GND
KA2
SRL2
Door switch
T11
T12
T21
T22
Maintenance 11
Maintenance 12
S3 Input 1
13
T23 14
T31 T32 23
A
B
24
S_ES2
External emergency stop
ES2
ES1
S4 Input 1
SAFETY
HT1-D emergency stop
OUT
Input 1
HT1-D emergency stop
Input 2
Output 1
HT1-D ENABLE
Input 1
HT1-D ENABLE
Input 2
Output 1
+24V
ES1
ES2
S_ES2
12
23220-M1-00
Parts Table
Circuit No.
Part Name
Type
Manufacturer
S1
Reset switch
A22 series
Omron
S2
Key-selector switch
A22TK series
Omron
S3
Safety door switch
D4 series
Omron
S4
Emergency stop switch
A22E series
Omron
KM1 *
Contactor (mirror contact)
LC1-D09
Schneider Electric
KA1, 2
SRL1, 2
Safety relay
G7SA-3A1B
Omron
Safety relay socket
P7SA-10F-ND
Omron
Safety relay unit
G9SA-301
Omron
* Built-in surge killer
2-34
(2) Circuit operation overview
l 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).
• The external emergency stop button's NC contact is ON (closed).
• The Handy Terminal emergency stop button's NC contact is ON (closed).
c
l During maintenance
Main power (motor drive power) is supplied only when the door switch is disabled, with all the following conditions
satisfied.
Conditions
• The maintenance mode switch's NC contact is ON (closed).
• The external emergency stop button's NC contact is ON (closed).
• The Handy Terminal emergency stop button's NC contact is ON (closed).
• The Handy Terminal ENABLE switch's NO contact is ON (closed).
c
CAUTION
The door switch is enabled when the Handy Terminal is disconnected. (Connection confirmation occurs at the
ES1 and ES2 loop.)
2-35
2
Installation and wiring
CAUTION
• Use the safety short connector to connect during automatic operation. (short the following: 1-2, 3-4, 5-6, 7-8)
• Do not short the safety short connector's ES1 and ES2. Doing so will disable the Handy Terminal's "connection
check" function when the dummy connector is mounted at COM1.
Chapter 3 Data setting
Contents
1. Data overview
3-1
1.1
Overview
3-1
1.2
Data system-of-units
3-1
2. Point data
3-2
2.1
"Standard setting" type
3-3
2.2
"Custom setting" type
3-4
3. Point data details
3-5
4. Parameter data
3-9
4.1
Parameter list
3-9
4.1.1
4.1.2
4.1.3
4.1.4
RUN parameters
I/O parameters
Option parameters
Servo parameters
3-9
3-10
3-10
3-11
4.2
Parameter details
3-11
4.2.1
4.2.2
4.2.3
4.2.4
4.2.5
4.2.6
4.2.7
RUN parameters
I/O parameters
Servo parameters
Option parameters
CC-Link
DeviceNet
EtherNet/IP
3-11
3-14
3-16
3-17
3-17
3-18
3-18
1. Data over view
1.1
Over view
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.
Up to 255 points (P1 to P255) can be registered.
There are two point data setting types: "Standard setting" type that automatically defines optimal positioning simply by
specifying the payload and "Custom setting" type that allows setting the speed (mm/s) and acceleration (m/s2) in SI units.
Select the desired setting type according to the application.
■ ■ Parameter data
Data configuration
Data
Sets the point data to be used in
positioning. Select the desired setting
type ("Standard setting" or "Custom
setting") according to the application.
P1 to P255
Point data
1
2
3
4
5
6
7
8
9
10
11
12
Parameter data
RUN type
Position
Speed
Accel.
Decel.
Push
Zone (-)
Zone (+)
Near width
Jump
Flag
Timer
(1) Standard setting
Optimum positioning is provided
simply by specifying the payload.
(2) Custom setting
Speed and acceleration can be set
in SI units.
Specifies parameter settings related to
positioning and return-to-origin
operations.
K1 to K20
RUN parameter
K21 to K39
I/O parameter
Specifies parameter settings related
to terminal assignments and I/O
function selection.
K80 to K99
Option parameter
Specifies parameter settings related to
options such as CC-Link, etc.
K40 to K79, K100 to ...
Servo parameter
Specifies parameter settings specified
to the connected robot. These parameters are specified during initial
processing.
23301-M0-00
1.2
Data system-of-units
Depending on the robot model, the point data and parameter data system-of-units which appear in the User's
Manual and support tools* may differ from the actual system-of-units.
Model
"Position" related data units
"Speed" related data units
"Acceleration" related data units
Indication / Display
Actual System-Of-Units
Rotary Axis Model *
Other Models
deg
mm
mm
mm/s
m/s
2
deg/s
3
10 ×deg/s
mm/s
2
m/s 2
* Rotary axis models include the FLIP-X Series R Type and the TRANSERVO Series RF Type.
* Support tools include the Handy Terminal HT1 and the support software TS-Manager.
3-1
Data setting
Parameter data is divided into the following categories: "RUN parameters", "I/O parameters", "Option parameters", and
"Servo parameters".
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
3
Description
Data setting
1
RUN type
Specifies the positioning operation pattern.
2
Position
Specifies the positioning target position or movement amount.
3
Speed
Specifies the positioning speed.
4
Accel.
Specifies the positioning acceleration.
5
Decel.
Specifies the positioning deceleration
(as a percentage of the acceleration).
6
Push
Specifies the electrical current limit value for "Push" operations.
7
Zone (-)
8
Zone (+)
9
Near width
Specifies the "near width" zone
(distance tolerance relative to target position).
10
Jump
Specifies the next movement destination, or the next merge operation merge destination
point No. following positioning completion.
11
Flag
Specifies other information related to the positioning operation.
12
Timer
Specifies the waiting time (delay) after positioning completion.
Specifies the "personal zone" output range.
■ ■ "Standard setting" and "Custom setting"
There are 2 setting types for point data ("Standard setting" or "Custom setting"). Select the desired setting type according
to the application.
The maximum number of setting points for both setting types is 255 points (P1 to P255).
Setting Type
Description
Standard setting
Optimum positioning is provided simply by specifying the payload. This setting type is wellsuited to assembly and transport applications.
Custom setting
Allows changing the speed and acceleration in SI units so the desired positioning
operation can be set.
This setting type is suited for machining and inspection systems.
■ "Standard setting" and "Custom setting" selection
Specify the "Point Type" setting as "Standard setting" or "Custom setting" during initial processing performed by the support
software (TS-Manager).
c
3-2
CAUTION
• The "Point Type" ("Standard setting" or "Custom setting") can be selected only when creating new robot data with the support software (TS-Manager).
• Changing the "Point Type" setting clears all point data which has been in use.
Be sure to specify the "Point Type" setting before editing the point data.
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 for each
robot.
"Speed" = 100%
"Accel." = 100%
"Decel. speed" = 100%
"Speed" = 50%
The optimum acceleration percentage
value (%) is specified in accordance
with the movement amount and
movement speed, based on the max.
payload accel. which is automatically
set when the payload is specified.
Specified as a percentage
of the accel.
3
Time
23302-M0-00
Data setting
Acceleration calculating algorithm
m/s2
Payload is set.
Max. payload accel.
(max. accel.) for 0kg payload
Max. payload accel. is automatically set based on the payload.
(See fig. at left.)
Max. payload accel.
for payload setting
Max. payload accel.
for max. payload
Payload
setting value
kg
Max. payload
weight
Optimum accel. is calculated in
accordance with the movement amount
and movement speed, based on the
Max. payload accel. at operation START.
Accel. is determined and set.
23303-M0-00
TIP
Payload settings are specified at the K76 (Payload 1) and K78 (Payload 2) servo parameters. (See section 4.2,
"Parameter details" of this manual for details.)
If 2 payloads have been set, either setting can be selected for each point data. (See the "Flag" item in section 3,
"Point data details" of this manual for details.)
■ ■ Point data setting range and default settings
Data Item
Setting Range
Units *2
Default
-
1
mm
0.00
1
RUN type
1 to 8 (8 types)
2
Position
Other than TS-P TS-P 3
Speed
1 to 100
%
100
4
Accel.
1 to 100
%
100
5
Decel.
1 to 100
%
100
6
Push
TS-S, TS-S2, TS-SH : 1 to upper limit (depends on robot type)*1
TS-X, TS-P : 1 to 100
%
TS-S, TS-S2, TS-SH : Depends on robot type
TS-X, TS-P
: 100
7
Zone (-)
8
Zone (+)
9
: -9999.99 to 9999.99
: -9999.999 to 9999.999
Other than TS-P TS-P : -9999.99 to 9999.99
: -9999.999 to 9999.999
mm
0.00
Near width
Other than TS-P TS-P : 0.00 to 9999.99
: 0.000 to 9999.999
mm
1.00
10
Jump
0 to 255
-
0
11
Flag
0 to 15
-
0
12
Timer
0 to 30000
ms
0.00
*1.The upper limit setting of the push force is the maximum push force of each model.
*2.Depending on the robot model, the point data system-of-units which appears in the User's Manual and support tools may differ
from the actual system-of-units.
3-3
2.2
"Custom setting" type
This setting type allows a more detailed positioning operation.
Speed and acceleration concept
The speed is specified in
"mm/s" units. The max.
permissible setting value is the
max. accel. for each robot type.
Speed
"Speed" = 600.00 (mm/s)
"Decel. speed" = 100%
"Accel." = 4.00 (m/s2)
Specified as a
percentage of the
accel. speed.
The acceleration is set in m/s2
units. The max. permissible
setting value is the max. accel.
for each robot type.
3
Time
23304-M0-00
Data setting
TIP
The payload setting is specified by servo parameter K76 (Payload 1). (See section 4.2, "Parameter details" of this
manual for details.)
■ ■ Point data setting range and default settings
Data Item
Setting Range
Units *2
Default
-
1
mm
0.00
1
RUN type
1 to 8 (8 types)
2
Position
Other than TS-P TS-P 3
Speed
0.01 to upper limit (depends on robot type)
Depends on robot type
mm/s
Depends on robot type
4
Accel.
0.01 to upper limit (depends on robot type)
Depends on robot type
m/s 2
Depends on robot type
5
Decel.
1 to 100
6
Push
TS-S, TS-S2, TS-SH : 1 to upper limit (depends on robot type)*1
TS-X, TS-P : 1 to 100
7
Zone (-)
8
Zone (+)
9
: -9999.99 to 9999.99
: -9999.999 to 9999.999
%
100
%
TS-S, TS-S2, TS-SH : Depends on robot type
TS-X, TS-P : 100
Other than TS-P TS-P : -9999.99 to 9999.99
: -9999.999 to 9999.999
mm
0.00
Near width
Other than TS-P TS-P : 0.00 to 9999.99
: 0.000 to 9999.999
mm
1.00
10
Jump
0 to 255
-
0
11
Flag
0 to 15
-
0
12
Timer
0 to 30000
ms
0.00
*1.The upper limit setting of the push force is the maximum push force of each model.
*2.Depending on the robot model, the point data system-of-units which appears in the User's Manual and support tools may differ
from the actual system-of-units.
TIP
"Depends on robot type" indicates that the default setting varies according to the robot type being used.
c
3-4
CAUTION
When the "Custom setting" type is selected, the max. permissible accel. setting value is the max. accel. for each
robot type. However, if a payload is registered, operation will not occur at an acceleration which exceeds the
max. accel. (max. payload accel.) which has been determined based on the payload.
3. Point data details
This section explains the details of each point data item.
111 RUN type
Specifies the positioning operation pattern.
TIP
For details on positioning operation, ABS (absolute position movement), and INC (relative position movement),
see section 3, "Positioning operation", in Chapter 5.
1. ABS
2. INC
Moves to absolute coordinate P relative to the origin point
and completes positioning.
Moves a specified distance X from the current position and
completes positioning.
3
+X
-X
3. ABS Merge
4. INC Merge
Moves to multiple points in succession while changing the
speed but not decelerating and stopping.
Speed
(1)
(2)
Moves to multiple points in succession while changing the
speed but not decelerating and stopping.
Speed
(1)
(2)
Position
P1
P2
P1 and P2 are absolute coordinates relative to the origin point.
(1) Accelerates to the speed specified by point 2.
(2) After reaching P1, moves to P2 without decelerating to stop.
Position
X1
X2
Moves a specified distance from the current position of the slider.
(1) Accelerates to the speed specified by point 2.
(2) After reaching X1, moves to X2 without decelerating to stop.
5. ABS Push
6. INC Push
Moves while pushing at a preset push force.
Position P is an absolute coordinate relative to the origin point.
Push operation
Pushing continues until the slider
reaches position P or the push
judgment time (K5) is reached.
Moves while pushing at a preset push force.
X is the specified distance from the current position.
Push operation
Pushing continues until the slider
moves the specified distance X or
the push judgment time (K5) is reached.
P
7. ABS
Push
X
8. INC
Starts push operation at the speed specified by the push speed
(K6) parameter after completing deceleration at a distance
equal to "Near width (N)" from position P.
Pushing continues until the slider reaches position P or the
push judgment time (K5) is reached.
Position P is an absolute coordinated relative to the origin point.
Push
Starts push operation at the speed specified by the push
speed (K6) parameter after completing deceleration at a
distance equal to "Near width" from the target position.
Pushing continues until the slider moves the specified
distance X or the push judgment time (K5) is reached.
Speed
Speed
N
N
Position
Position
P
X
23305-M0-00
3-5
Data setting
P
222 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 (mm)" point data setting has been specified.
ABS and INC settings
INC setting
(movement amount = 100)
3
ABS setting
Data setting
Origin point
(0)
Current position
(50)
100
150
200
Position
23306-M0-00
333 Speed
Specifies the positioning speed.
• Standard setting.. ..... The speed is specified as a percentage (%) of each robot's max. speed.
• Custom setting........ The speed is specified in mm/s units.
c
CAUTION
In the case of push operation, make this setting so that the movement speed does not exceed 20.00 [mm/s].
444 Accel.
Specifies the positioning acceleration.
• Standard setting.. ..... The acceleration is specified as a percentage (%) of each operation's optimum acceleration.
• Custom setting........ The acceleration is specified in m/s 2 units.
w
WARNING
Payload, acceleration, and deceleration settings which differ greatly from the actual values will
result in operation time loss, shorten the robot life, and cause vibration. Be sure to set them to
appropriate values.
555 Decel.
Specifies the positioning deceleration setting as a percentage (%) of the accel. setting value.
<Setting examples>
• For "Standard setting" with an "Accel." setting of 80% and a "Decel." setting of 70%:
80%×70% = 56% (56% of the optimum accel.).
• For "Custom setting" with an "Accel." setting of 4.00 (m/s2) and a "Decel." setting of 70%:
4.00 (m/s 2)×70% = 2.80 (m/s 2).
666 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.
c
3-6
CAUTION
A 100% "push force" is equal to the rated current, and the thrust generated by the rated current is called the
"rated thrust". The rated thrust indicated by each robot's specifications is the theoretical (guideline) thrust when
the motor is running at its rated current. The actual thrust varies according to friction conditions, etc..
777 Zone (-)
888 Zone (+)
"Zone (-)" specifies the personal zone output (PZONE) range's lower limit (minus-direction limit).
"Zone (+)" specifies the personal zone output (PZONE) range's upper limit (plus-direction limit).
The personal zone output can be specified for each point data, and it switches ON when the robot's current position
enters the personal zone.
The following example shows a personal zone set as the absolute position range of 100 to 150mm, as measured from the
origin point.
Personal zone setting example (absolute position)
3
Personal zone
Zone (+)
(150)
Position
23307-M0-00
999 Near width
Specifies the near width zone (distance tolerance relative to target position) for the "near width output". The "near width
output" switches ON while the robot is passing through the near width zone.
When the RUN type is "Decel
Push", this range represents the position (distance from target position) where
deceleration ends and the push status begins.
Example for a setting of "Near width = 5mm"
Near width
Near width
P−5
P+5
Position
Target position P
23308-M0-00
1111Jump
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.
Setting example of "Jump = 2"
Speed
Speed
P1 operation
Merge operation
P1 operation
P2 operation
P2 operation
Time
Time
After positioning to P1 is completed, positioning
to P2 occurs.
After positioning to P1 is completed, positioning
to P2 occurs without a deceleration stop.
23309-M0-00
3-7
Data setting
Zone (-)
(100)
Origin point
(0)
1111Flag
Specifies the following setting items with regard to the positioning operation.
Bit Setting
Setting Item
bit0
bit1
TS-S TS-S2
TS-SH
3
b3 to b2
Setting Value / Setting Range
Payload select
Standard setting: Selects the payload setting for positioning operations.
Custom setting: Limits the max. payload accel. which is determined according to
the payload.
0: Payload 1 (K76)
1: Payload 2 (K78)
Stop mode select
Selects the control method during stop state after positioning operations.
0: Closed mode
1: Open mode
Limitless rotation
select *
Selects the operation method of the limitless rotation function.
b3 b2
00 : Normal rotation
01 : Reverse rotation
1x : Shorter rotation
* This function is available from Ver. 1.10.121 onwards.
Data setting
TIP
For details about how to select the payload, see section 7.4, "Changing the payload", in Chapter 5. For details
about stop mode (TS-S, TS-S2, and TS-SH only), see section 7.5, "Stop mode" in Chapter 5. For details about how to
select the limitless rotation function, see section 3.9, "Limitless rotation function" in Chapter 5.
1111Timer
Specifies the waiting time (delay) before proceeding to the next specified (by Jump setting) operation following the
completion of a positioning operation. This setting is disabled in merge operations.
Setting example of "Timer = 500ms"
Speed
P2 operation
P1 operation
Time
Timer = 500ms
After completion of the P1 operation, there is a 500ms delay (wait)
before the P2 operation begins.
23310-M0-00
3-8
4. Parameter data
The 4 types of parameter data are shown below.
Type
Description
RUN parameter
These parameters are required for robot operation, and they include "soft limit" and "zone"
settings.
I/O parameter
These parameters are for terminal assignment and I/O functions.
Option parameter
These parameters are for optional settings (CC-Link and DeviceNet, etc.), and include the "node
No." and "baud rate" settings.
Servo parameter
These parameters are robot-specific parameters, and they include "encoder pulse count",
"gain", "rating", and "max. current" settings.
4.1
3
Parameter list
n
NOTE
For details regarding parameters see section 4.2, "Parameter details".
4.1.1 RUN parameters
• Positioning
No.
Name
Setting / Setting Range
Units *
Default
1
(-) soft limit
Other than TS-P TS-P : -9999.99 to 9999.99
: -9999.999 to 9999.999
mm
2
(+) soft limit
Other than TS-P TS-P : -9999.99 to 9999.99
: -9999.999 to 9999.999
mm
3
In-position
Other than TS-P TS-P : 0.01 to 1.00
: 0.001 to 1.000
mm
4
Push mode
0:
1:
2:
3:
5
Push judge time
1 to 60000
6
Push speed
0.01 to 20.00
7
Zone (-)
Other than TS-P TS-P : -9999.99 to 9999.99
: -9999.999 to 9999.999
8
Zone (+)
Other than TS-P TS-P : -9999.99 to 9999.99
: -9999.999 to 9999.999
9
Speed override
1 to 100
%
100
-
10
JOG speed
1 to 100
%
100
-
11
Inching width
Other than TS-P TS-P 12
MOVE output level
0.01 to 100.00
Continue push after judgment, no push failure judgment
Positioning after judgment, no push failure judgment
Continue push after judgment, with push failure judgment
Positioning after judgment, with push failure judgment
: 0.00
: 0.000
Depends on robot type
Other than TS-P
TS-P -
: 0.01
: 0.001
-
-
0
-
ms
10
-
mm/s
: 0.01 to 1.00
: 0.001 to 1.000
Other than TS-P
TS-P Restart
Depends on robot type
-
mm
Other than TS-P
TS-P : 0.00
: 0.000
-
mm
Other than TS-P
TS-P : 0.00
: 0.000
-
mm
mm/s
Other than TS-P
TS-P : 1.00
: 1.000
0.01
-
* Depending on the robot model, the point data system-of-units which appears in the User's Manual and support tools may differ
from the actual system-of-units.
• Return-to-origin
Units *
Default
Restart
mm/s
Depends on robot type
-
0: CCW direction; 1: CW direction
-
Depends on robot type
-
Origin coordi.
0: Standard; 1: Reversed
-
0
-
Origin shift
Other than TS-P TS-P No.
Name
13
Origin speed
0.01 to 100.00
14
Origin dir.
15
16
Setting / Setting Range
: -9999.99 to 9999.99
: -9999.999 to 9999.999
mm
Other than TS-P
TS-P : 0.00
: 0.000
-
* Depending on the robot model, the point data system-of-units which appears in the User's Manual and support tools may differ
from the actual system-of-units.
3-9
Data setting
At the initializing routine, all parameters are set to their default values in accordance with the specifications of
the selected robot and the payload. The following list shows the parameter setting ranges and default settings.
• Speed switch
No.
Name
Setting / Setting Range
17
Speed switch
function
0: Disable
18
Switched speed
1 to 100
1: Enable
Units
Default
Restart
-
0
-
%
10
-
Units
Default
Restart
-
0
-
Units
Default
Restart
-
1
Required
-
2
Required
-
3
Required
-
4
Required
-
1
Required
Units
Default
Restart
-
0
-
-
0
-
• Limitless rotation function
No.
19
Name
Limitless rotation
function
Setting / Setting Range
0: Disable
1: Enable
2: Enable (shorter rotation)
4.1.2 I/O parameters
3
• Terminal assignment
Data setting
No.
Name
21
OUT0 select
22
OUT1 select
23
OUT2 select
24
OUT3 select
25
POUT select
Setting / Setting Range
0:
1:
2:
3:
4:
5:
No output
PZONE
NEAR
TLM-S
ORG-S
ZONE
6. MOVE
7: /WARN
8: MANU-S
0: None
1: At positioning completion (AFTER)
2: At positioning start (WITH)
• Function selection
No.
30
Name
Alarm No. output
function
Setting / Setting Range
0: Disable
1: Enable
31
SERVO sequence
0: Edge
1: Level
32
JOG response time
0: JOG movement only
1 to 1000: Inching at leading edge, with JOG movement
after specified time elapses.
ms
0
-
33
Input filter
1 to 10
ms
2
-
Units
Default
Restart
-
1
-
Units
Default
Restart
-
1
-
Units
Default
Restart
-
1
Required
-
4
Required
Units
Default
Restart
• Communication
No.
38
Name
Node (controller)
Setting / Setting Range
1 to 16
4.1.3 Option parameters
• I/O function
No.
80
Name
Option enable
Setting / Setting Range
0: Disable
1: Enable
• CC-Link
No.
Name
Setting / Setting Range
81
Node
1 to 64
82
Transmission rate
0: 156Kbps
1: 625Kbps
2: 2.5Mbps
3: 5Mbps
4: 10Mbps
• DeviceNet
No.
81
82
Name
Setting / Setting Range
Node
0 to 63
-
0
Required
Transmission rate
0: 125Kbps
1: 250Kbps
2: 500Kbps
-
2
Required
• EtherNet/IP
3-10
No.
Name
Units
Default
Restart
81
Port number
0 to 65535
Setting / Setting Range
-
0
Required
-
IP address
0.0.0.0 to 255.255.255.255
-
192.168.0.1
Required
-
Subnet mask
0.0.0.0 to 255.255.255.255
-
255.255.255.0
Required
-
Default gateway
0.0.0.0 to 255.255.255.255
-
192.168.0.254
Required
4.1.4 Ser vo parameters
• Controller setting TS-X
No.
74
TS-SH
Name
Setting / Setting Range
Absolute setting
0: Disable
Units
Default
Restart
-
1
Required
Units *3
Default
Restart
kg
Depends on robot type
-
Depends on robot type
-
Depends on robot type
-
Depends on robot type
-
1: Enable
• Adjustment
No.
76
Name
Payload 1
77
Max. payload accel.1
78
Payload 2
79
Setting / Setting Range
0 to max. payload (K47)
*1
-
m/s
0 to max. payload (K47)
*2
Max. payload accel.2
2
kg
-
m/s
2
*1.When "payload 1" (K76) is registered, this setting is converted to a value calculated by the prescribed formula.
*2.When "payload 2" (K78) is registered, this setting is converted to a value calculated by the prescribed formula.
*3.Depending on the robot model, the point data system-of-units which appears in the User's Manual and support tools may differ
from the actual system-of-units.
TS-S2
No.
Name
123
Stop mode setting
124
125
4.2
Stop mode
switching time
Holding current
during stop
TS-SH
Setting / Setting Range
Units
Default
Restart
-
0
-
0 to 5000
ms
200
-
0 to 100
%
Depends on robot type
-
0 to 1
Parameter details
The parameters described below can be adjusted to conform to the actual application and usage conditions.
4.2.1 RUN parameters
• Positioning related parameters
K1
K2
Soft limit (-)
Soft limit (+)
Setting Range
Default
Units
Restar
Other than TS-P : -9999.99 to 9999.99
TS-P : -9999.999 to 9999.999
Depends on robot type
mm
-
Function
Specifies the robot movement range. K1 specifies the minus-side limit, and K2 specifies the plus-side limit. Although the
robot's effective stroke is factory-set as the soft limit when shipped, it should be changed if necessary to avoid collisions
with obstacles, etc.
w
WARNING
Soft limit function is not a safety-related function intended to protect the human body.
To restrict the robot movement range to protect the human body, use the mechanical stoppers installed in the
robot (or available as options).
TIP
The plus and minus directions differ according to the "origin coordi." (K15) setting. For soft limit details, see section
7.1, "Soft limit function", in Chapter 5.
Setting Range
K3
In-position
Other than TS-P
TS-P Default
: 0.01 to 1.00
Other than TS-P : 0.01
: 0.001 to 1.000 TS-P : 0.001
Units
Restart
mm
-
Function
Specifies the range in which end-of-positioning is recognized.
K4
Push mode
Setting Range
Default
Units
Restart
0 to 3
0
-
-
Function
Specifies the push operation following a push judgment, and specifies the push failure judgment ("nothing was pushed" judgment).
3-11
Data setting
• Stop mode TS-S
3
Settings
Setting Value
Push continuation after completion, with no failure judgment.
1
Positioning after completion, with no failure judgment.
2
Push continuation after completion, with failure judgment.
3
Positioning after completion, with failure judgment.
K5
3
Description
0
Data setting
Setting Range
Default
Units
Restart
1 to 60000
10
ms
-
Setting Range
Default
Units
Restart
0.01 to 20.00
Depends on robot type
mm/s
-
Default
Units
Restart
mm
-
Push judgment time
Function
Specifies the time from "push start" to "push end" at push operations.
K6
Push speed
Function
Specifies the push speed after deceleration at "Decel. push" operations.
K7
K8
Zone (-)
Zone (+)
Setting Range
Other than TS-P : 0.00
Other than TS-P : -9999.99 to 9999.99
TS-P : -9999.999 to 9999.999 TS-P : 0.000
Function
Specifies the zone output (ZONE) range's upper and lower limits.
TIP
For zone output details, see section 7.2, "Zone output function", in Chapter 5.
K9
Setting Range
Default
Units
Restart
1 to 100
100
%
-
Speed override
Function
Performs an override (uniform adjustment) of the speed specified for the positioning operation.
K10
Setting Range
Default
Units
Restart
1 to 100
100
%
-
Default
Units
Restart
Other than TS-P : 1.00
TS-P : 1.000
mm
-
Setting Range
Default
Units
Restart
0.01 to100.00
0.01
mm/s
-
JOG speed
Function
Specifies the JOG movement speed. A setting of 100% is 100mm/s.
Setting Range
K11
Inching width
Other than TS-P
TS-P : 0.01 to 1.00
: 0.001 to 1.000
Function
Specifies the inching width (amount) for JOG movement.
K12
MOVE output level
Function
Specifies the minimum movement speed which is output by the MOVE (movement-in-progress) output.
3-12
• Return-to-origin related parameters
K13
Setting Range
Default
Units
Restart
0.01 to 100.00
Depends on robot type
mm/s
-
Return-to-origin speed
Function
Specifies the return-to-origin movement speed.
c
CAUTION
An alarm may occur during return-to-origin operation if the return-to-origin speed is set too high. Always set it to
an appropriate value.
K14
Setting Range
Default
Units
Restart
0 to 1
Depends on robot type
-
-
Return-to-origin direction
Function
3
Specifies the return-to-origin direction.
Setting Value
Description
0
CCW
1
CW
K15
Setting Range
Default
Units
Restart
0 to 1
0
-
-
Units
Restart
mm
-
Origin Coordi.
Function
Specifies the coordinate system polarity.
Settings
Setting Value
Description
0
Standard (Plus-polarity is opposite direction from return-to-origin direction.)
1
Reverse (Plus-polarity is same direction as return-to-origin direction)
Setting Range
K16
Origin shift
Default
Other than TS-P : 0.00
Other than TS-P : -9999.99 to 9999.99
TS-P : -9999.999 to 9999.999 TS-P : 0.000
Function
Specifies the coordinates of the return-to-origin end position.
• Speed switch
K17
Setting Range
Default
Units
Restart
0 to 1
0
-
-
Speed switch function
Function
Enables/disables the speed switch function.
Settings
c
Settings
Description
0
Disable
1
Enable
CAUTION
This function is available from controller's software version 1.06.111 onwards. This parameter can be changed
from the HT1 with software version 1.09 onwards and the TS-Manager with software version 1.2.1 onwards.
3-13
Data setting
Settings
n
NOTE
Refer to section 3.8, "Speed switch function", in Chapter 5 for more details.
K18
Switched speed
Setting Range
Default
Units
Restart
1 to 100
10
%
-
Function
Specifies the speed to be used after "Speed switch" has been performed. The maximum speed to be used by the speed
switch function will be calculated by multiplying the current maximum speed by the value set in this parameter.
3
c
n
CAUTION
This function is available from controller's software version 1.06.111 onwards. The parameter can be changed by
the HT1 with the software version 1.09 onwards and by the TS-Manager with the software version 1.2.1 onwards.
NOTE
Refer to section 3.8, "Speed switch function", in Chapter 5 for more details.
Data setting
• Limitless rotation function
K19
Limitless rotation function
Setting Range
Default
Units
Restart
0 to 2
0
-
-
Function
Sets the limitless rotation function enabled or disabled.
Settings
Setting Value
c
Description
0
Disable
1
Enable
2
Enable (shorter rotation)
CAUTION
This parameter is available from controller’s software version Ver. 1.10.121 onwards.
The HT1 can change this parameter from software version Ver. 1.13 onwards while the TS-Manager can change it
from Ver. 1.3.3 onwards.
4.2.2 I/O parameters
• Terminal assignment related parameters
No.
Name
Setting / Setting Range
Default
Units
Restart
K21
OUT0 select
0 to 8
1
-
Required
K22
OUT1 select
0 to 8
2
-
Required
K23
OUT2 select
0 to 8
3
-
Required
K24
OUT3 select
0 to 8
4
-
Required
Function
Specifies the functional signals (shown below) for the control outputs (OUT0 to OUT3).
Settings
3-14
Setting Value
Signal Type
0
-
Description
1
PZONE
2
NEAR
NEAR output
3
TLM-S
Push status
4
ORG-S
Return-to-origin end status
No output
Personal zone output
5
ZONE
Zone output
6
MOVE
Movement-in-progress
7
/WARN
Warning output
8
MANU-S
MANUAL mode status
K25
POUT select
Setting Range
Default
Units
Restart
0 to 2
1
-
Required
Setting Range
Default
Units
Restart
0 to 1
0
-
-
Function
Specifies the output timing for the POUT0 to POUT7 point No. outputs.
Settings
Setting Value
Description
0
No output
1
Output at positioning end (AFTER)
2
Output at movement start (WITH)
• Function selection related parameters
K30
Alarm No. output function
3
Function
Data setting
Enables/disables the alarm No. output function.
Settings
Setting Value
Description
0
Disable
1
Enable
TIP
For details regarding alarm No. outputs, see section 7.3, "Alarm No. output function", in Chapter 5.
K31
SERVO sequence
Setting Range
Default
Units
Restart
0 to 1
0
-
-
Setting Range
Default
Units
Restart
0 to 1000
0
ms
-
Setting Range
Default
Units
Restart
1 to 10
2
ms
-
Function
Specifies the SERVO input's servo ON/OFF conditions.
Settings
Setting Value
Description
0
Edge (servo ON at leading edge, servo OFF at trailing edge)
1
Level (ON: servo on; OFF: servo off)
K32
JOG response time
Function
Specifies the JOG movement sequence at JOG+/JOG- inputs.
Settings
Setting Value
0
1 to 1000
K33
Description
JOG operation only
Inching operation + JOG operation after specified time elapses
Input filter
Function
Specifies the filter processing time for inputs from the host unit. The larger the setting value, the longer the filtering time,
and the slower the response to the input.
K38
Node (controller)
Setting Range
Default
Units
Restart
1 to 16
1
-
-
Function
Specifies the node number for a daisy-chained controller.
3-15
4.2.3 Ser vo parameters
• Controller setting TS-X
K74
TS-SH
Setting Range
Default
Units
Restart
0 to 1
1
-
Required
Setting Range
Default
Units
Restart
0 to … (depends on robot type)
Depends on robot type
kg
-
Absolute setting
Function
Sets the absolute function enabled or disabled.
Settings
3
Setting value
Description
0
Disable
1
Enable
• Adjustment
K76
Payload 1
Data setting
Function
Specifies the maximum weight of objects (tools, workpieces, etc.) which can be mounted on the robot. Based on this
setting, the maximum acceleration (max. payload accel. 1 (K77)) for each robot type is automatically calculated and set.
w
WARNING
Payload, acceleration, and deceleration settings which differ greatly from the actual values will result in
operation time loss, shorten the robot life, and cause vibration. Be sure to set them to appropriate values.
TIP
For payload details, see section 7.4, "Changing the payload", in Chapter 5.
K77
Max. payload accel. 1
Setting Range
Default
Units
Restart
-
Depends on robot type
m/s 2
-
Function
Specifies the maximum payload acceleration defined by the "Payload 1" (K76) parameter. This is a "read only" parameter.
K78
Payload 2
Setting Range
Default
Units
Restart
0 to … (depends on robot type)
Depends on robot type
kg
-
Function
Specifies the maximum weight of objects (tools, workpieces, etc.) which can be mounted on the robot. The maximum
acceleration (max. payload accel. 2 (K79)) for each robot type is automatically calculated and set based on this setting.
w
WARNING
Payload, acceleration, and deceleration settings which differ greatly from the actual values will
result in operation time loss, shorten the robot life, and cause vibration. Be sure to set them to
appropriate values.
TIP
For payload details, see section 7.4, "Changing the payload", in Chapter 5.
K79
Max. payload accel. 2
Setting Range
Default
Units
Restart
-
Depends on robot type
m/s 2
-
Function
Specifies the maximum payload acceleration defined by the "Payload 2" (K78) parameter. This is a "read only" parameter.
• Stop mode TS-S
K123
TS-S2
Stop mode setting
Function
Specifies the stop mode.
3-16
TS-SH
Setting Range
Default
Units
Restart
0 to 1
0
-
-
Settings
Setting value
Description
0
Closed mode
1
Open mode
TIP
For details regarding the stop mode, see section 7.5, "Stop mode", in Chapter 5.
K124
Stop mode switching time
Setting Range
Default
Units
Restart
0 to 5000
200
ms
-
Function
Specifies the time to wait before shifting to the stop mode after positioning is completed.
Holding current during
stop
K125
Setting Range
Default
Units
Restart
0 to 100
Depends on robot type
%
-
4.2.4 Option parameters
K80
Option enable
Setting Range
Default
Units
Restart
0 to 1
1
-
-
Setting Range
Default
Units
Restart
1 to 64
1
-
Required
Setting Range
Default
Units
Restart
0 to 4
4
-
Required
Function
Specifies the I/O enable/disable setting.
Settings
Setting Value
Description
0
Disable
1
Enable
4.2.5 CC-Link
K81
CC-Link node
Function
Specifies the CC-Link communication node.
K82
CC-Link speed
Function
Specifies the CC-Link baud rate.
Settings
c
Setting Value
Description
0
156Kbps
1
625Kbps
2
2.5Mbps
3
5Mbps
4
10Mbps
CAUTION
The baud rate setting specified here must be the same as the baud rate specified at the master station. A normal
data link cannot be established if the settings are not the same.
3-17
Data setting
Function
Specifies the holding current when the stop mode is in open mode. A setting of 100% is the rated current for each robot
type.
3
4.2.6 DeviceNet
K81
Setting Range
Default
Units
Restart
0 to 63
0
-
Required
Setting Range
Default
Units
Restart
0 to 2
2
-
Required
DeviceNet node
Function
Specifies the DeviceNet communication node.
K82
3
DeviceNet speed
Function
Specifies the DeviceNet baud rate.
Settings
Data setting
c
Setting Value
Description
0
125Kbps
1
250Kbps
2
500Kbps
CAUTION
The baud rate setting specified here must be the same as the baud rate specified at the master station. A normal
data link cannot be established if the settings are not the same.
4.2.7 EtherNet/IP
K81
Setting Range
Default
Units
Restart
0 to 65535
0
-
Required
Port number
Function
Specifies the port number of the TCP/IP communication. (Presently, this parameter is not used.)
-
Setting Range
Default
Units
Restart
0.0.0.0 to 255.255.255.255
192.168.0.1
-
Required
IP address
Function
Specifies the IP address.
When this parameter is set to "0.0.0.0", the DHCP becomes enabled (automatic IP address assignment).
-
Setting Range
Default
Units
Restart
0.0.0.0 to 255.255.255.255
255.255.255.0
-
Required
Setting Range
Default
Units
Restart
0.0.0.0 to 255.255.255.255
192.168.0.254
-
Required
Subnet mask
Function
Specifies the subnet mask.
-
Default gateway
Function
Specifies the IP address of the default gateway.
When the default gateway is not used, it is not necessary to specify this parameter.
c
3-18
CAUTION
EtherNet/IP setting parameters are available from controller’s software version Ver. 1.10.121 onwards.
The HT1 can change these parameters from software version Ver. 1.13 onwards while the TS-Manager can change
them from Ver. 1.3.3 onwards.
Chapter 4 I/O signal functions
Contents
1.
I/O specifications
4-1
1.1
NPN and PNP type
4-1
1.2
CC-Link type
4-2
1.3
DeviceNet type
4-4
1.4
EtherNet/IP type
4-5
2.
I/O signal list
4-6
3.
I/O signal details
4-7
3.1
Input signal details
4-7
3.2
Output signal details
4-9
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
NPN
16 input points, 24VDC ± 10%, 5.1mA/point, plus common
16 output points, 24VDC ± 10%, 50mA/point, sync type
PNP
16 input points, 24VDC ± 10%, 5.5mA/point, minus common
16 output points, 24VDC ± 10%, 50mA/point, source type
CC-Link
CC-Link Ver.1.10 compatible, remote device station (1 station)
DeviceNet
Number of channels occupied by DeviceNet slaves: Inputs: 6CH; Outputs: 6CH.
EtherNet/IP
Number of channels occupied by EtherNet/IP slaves: Inputs: 6CH; Outputs: 6CH.
Parallel I/O
Serial I/O
1.1
4
NPN and PNP type
Both the NPN and PNP types have 16 input points and 16 output points.
■ ■ I/O signal table
Signal Name
A1
+COM
A2
A3
Description
I/O power input, positive
common (24VDC ±10%)
NC
No.
Signal Name
B1
POUT0
B2
POUT1
B3
POUT2
I/O signal functions
No.
Description
No connection
A4
NC
B4
POUT3
A5
PIN0
B5
POUT4
A6
PIN1
B6
POUT5
A7
PIN2
B7
POUT6
A8
PIN3
B8
POUT7
Point No. select
Outputs
Point No. outputs
A9
PIN4
B9
OUT0
A10
PIN5
B10
OUT1
A11
PIN6
B11
OUT2
A12
PIN7
B12
OUT3
A13
JOG+
JOG movement (+ direction)
B13
BUSY
A14
JOG-
JOG movement (- direction)
B14
END
Operation-end
A15
MANUAL
MANUAL mode
B15
/ALM
Alarm
A16
ORG
Return-to-origin
B16
SRV-S
A17
/LOCK
Interlock
B17
NC
A18
START
Start
B18
NC
A19
RESET
Reset
B19
A20
SERVO
Servo ON
B20
Control outputs
Inputs
Operation-in-progress
Servo status
No connection
-COM
I/O power input, negative
common (0V)
4-1
1.2
CC-Link type
Operation occurs as a CC-Link remote device station, on a one-unit to one-station basis.
n
NOTE
"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. These settings can be specified in the support software (TS-Manager), or from the
HT1. (For the setting procedure, see section 5.3 "Setting Option parameters".
■ ■ Remote I/O (bit I/O)
Input (Master
4
No.
Signal Name
RYn0
Remote)
Output (Remote
Description
No.
Signal Name
PIN0
RXn0
POUT0
RYn1
PIN1
RXn1
POUT1
RYn2
PIN2
RXn2
POUT2
RYn3
PIN3
RXn3
POUT3
Point No. select
Master)
Description
Point No. output
I/O signal functions
RYn4
PIN4
RXn4
POUT4
RYn5
PIN5
RXn5
POUT5
RYn6
PIN6
RXn6
POUT6
RYn7
PIN7
RXn7
POUT7
RYn8
JOG+
JOG movement (+ direction)
RXn8
OUT0
RYn9
JOG-
JOG movement (- direction)
RXn9
OUT1
RYnA
MANUAL
MANUAL mode
RXnA
OUT2
RYnB
ORG
Return-to-origin
RXnB
OUT3
RYnC
/LOCK
Interlock
RXnC
BUSY
RYnD
START
Start
RXnD
END
Operation-end
RYnE
RESET
Reset
RXnE
/ALM
Alarm
RYnF
SERVO
Servo ON
RXnF
SRV-S
RY(n+1)0
-
-
RX(n+1)0
-
-
RY(n+1)1
-
-
RX(n+1)1
-
-
RY(n+1)2
-
-
RX(n+1)2
-
-
RY(n+1)3
-
-
RX(n+1)3
-
-
RY(n+1)4
-
-
RX(n+1)4
-
-
RY(n+1)5
-
-
RX(n+1)5
-
-
RY(n+1)6
-
-
RX(n+1)6
-
-
RY(n+1)7
-
-
RX(n+1)7
-
-
RY(n+1)8
-
-
RX(n+1)8
-
-
RY(n+1)9
-
-
RX(n+1)9
-
-
RY(n+1)A
-
-
RX(n+1)A
-
-
RY(n+1)B
-
-
RX(n+1)B
R-RDY
RY(n+1)C
-
-
RX(n+1)C
-
-
RY(n+1)D
-
-
RX(n+1)D
-
-
RY(n+1)E
-
-
RX(n+1)E
-
-
RY(n+1)F
-
-
RX(n+1)F
-
-
Control output
Operation-in-progress
Servo status
Remote READY
n: Value determined by CC-Link station No. setting.
4-2
■ ■ Remote registers (word I/O)
Remote commands can be executed by using the 4-word input and 4-word output remote registers.
Inputs (Master
Address
Signal Name
RWwn
WIN0
RWwn+1
WIN1
RWwn+2
WIN2
RWwn+3
WIN3
Remote)
Description
Execution command
Command option
Output (Remote
Address
Signal Name
RWrn
WOUT0
RWrn+1
WOUT1
RWrn+2
WOUT2
RWrn+3
WOUT3
Master)
Description
Status
Command response
n: Value determined by CC-Link station No. setting.
4
I/O signal functions
4-3
1.3
DeviceNet type
Operate as slave stations, with each unit occupying 6 input and 6 output channels.
n
NOTE
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. These settings can be specified from the support software (TS-Manager), or from the HT1.
(For the setting procedure, see section 5.3 "Setting Option parameters".)
■ ■ Remote I/O (bit I/O)
Inputs (Master
Channel No.
4
m
I/O signal functions
m+1
Remote)
Signal Name
Output (Remote
Description
Channel No.
bit0
PIN0
bit0
POUT0
bit1
PIN1
bit1
POUT1
bit2
PIN2
bit2
POUT2
bit3
PIN3
bit3
POUT3
bit4
PIN4
bit4
POUT4
bit5
PIN5
bit5
POUT5
bit6
PIN6
bit6
POUT6
bit7
POUT7
bit8
OUT0
Point No. selection
bit7
PIN7
bit8
JOG+
Jog movement (+direction)
bit9
JOG-
Jog movement (-direction)
bit9
OUT1
bit10
MANUAL
Manual mode
bit10
OUT2
bit11
ORG
Return-to-origin
bit11
OUT3
n
Master)
Signal Name
Description
Point No. output
Control output
bit12
/LOCK
Interlock
bit12
BUSY
bit13
START
Start
bit13
END
Operation-end
bit14
RESET
Reset
bit14
/ALM
Alarm
bit15
SERVO
Servo ON
bit15
SRV-S
bit0
-
-
bit0
-
-
bit1
-
-
bit1
-
-
bit2
-
-
bit2
-
-
bit3
-
-
bit3
-
-
bit4
-
-
bit4
-
-
bit5
-
-
bit5
-
-
bit6
-
-
bit6
-
-
bit7
-
-
bit7
-
-
bit8
-
-
bit8
-
-
n+1
Operation-in-progress
Servo status
bit9
-
-
bit9
-
-
bit10
-
-
bit10
-
-
bit11
-
-
bit11
-
-
bit12
-
-
bit12
-
-
bit13
-
-
bit13
-
-
bit14
-
-
bit14
-
-
bit15
-
-
bit15
-
-
"m", "n": These values are determined in accordance with the channel setting.
■ ■ Remote registers (word I/O)
Remote commands can be executed by using the 4-word input and 4-word output areas.
Inputs (Master
Channel No.
Signal Name
m+2
WIN0
m+3
WIN1
m+4
WIN2
m+5
WIN3
Remote)
Output (Remote
Description
Execution command
Command option
Channel No.
Signal Name
n+2
WOUT0
n+3
WOUT1
n+4
WOUT2
n+5
WOUT3
Master)
Description
Status
Command response
"m", "n": These values are determined in accordance with the channel setting.
4-4
1.4
EtherNet/IP type
Operates as slave stations (adapters), with each unit occupying 6 input and 6 output channels.
n
NOTE
IP address setting is required in order for TS series to be properly recognized as a slave station in the EtherNet/IP
system. This setting can be specified from the support software (TS-Manager), or from the HT1.
(For the setting procedure, see section 5.3 "Setting Option parameters" in HT1 Operation Guide.)
■ ■ Remote I/O (bit I/O)
Inputs (Master
Channel No.
m
Output (Remote
Description
Channel No.
bit0
PIN0
bit0
POUT0
bit1
PIN1
bit1
POUT1
bit2
PIN2
bit2
POUT2
bit3
PIN3
bit3
POUT3
bit4
PIN4
bit4
POUT4
bit5
PIN5
bit5
POUT5
bit6
PIN6
bit6
POUT6
bit7
POUT7
bit8
OUT0
Point No. selection
bit7
PIN7
bit8
JOG+
Jog movement (+direction)
bit9
JOG-
Jog movement (-direction)
bit9
OUT1
bit10
MANUAL
Manual mode
bit10
OUT2
bit11
ORG
Return-to-origin
bit11
OUT3
n
Master)
Signal Name
Description
Point No. output
Control output
bit12
/LOCK
Interlock
bit12
BUSY
bit13
START
Start
bit13
END
Operation-end
bit14
RESET
Reset
bit14
/ALM
Alarm
bit15
SERVO
Servo ON
bit15
SRV-S
bit0
-
-
bit0
-
-
bit1
-
-
bit1
-
-
bit2
-
-
bit2
-
-
bit3
-
-
bit3
-
-
bit4
-
-
bit4
-
-
bit5
-
-
bit5
-
-
bit6
-
-
bit6
-
-
bit7
-
-
bit7
-
-
bit8
-
-
bit8
-
-
n+1
4
Operation-in-progress
Servo status
bit9
-
-
bit9
-
-
bit10
-
-
bit10
-
-
bit11
-
-
bit11
-
-
bit12
-
-
bit12
-
-
bit13
-
-
bit13
-
bit14
-
-
bit14
-
-
bit15
-
-
bit15
-
-
"m", "n": These values are determined in accordance with the channel setting.
■ ■ Remote registers (word I/O)
Remote commands can be executed by using the 4-word input and 4-word output areas.
Inputs (Master
Channel No.
Signal Name
m+2
WIN0
m+3
WIN1
m+4
WIN2
m+5
WIN3
Remote)
Output (Remote
Description
Execution command
Command option
Channel No.
Signal Name
n+2
WOUT0
n+3
WOUT1
n+4
WOUT2
n+5
WOUT3
Master)
Description
Status
Command response
"m", "n": These values are determined in accordance with the channel setting.
4-5
I/O signal functions
m+1
Remote)
Signal Name
2. I/O signal list
A list of the I/O signals is given below. For details regarding each signal, refer to section 3 "I/O signal
details".
Inputs
Type
4
I/O signal functions
Signal Name
Meaning
PIN0 to PIN7
Point No. select
0 to 7
JOG+
JOG movement (+ direction)
Plus-direction movement occurs while ON (MANUAL mode)
JOG-
JOG movement (- direction)
Minus-direction movement occurs while ON (MANUAL mode)
SPD
Speed switch
MANUAL
MANUAL mode
ON: MANUAL mode
ORG
Return-to-origin
Begins a return-to-origin.
/LOCK
Interlock
START
Start
TEACH
Current position teach
RESET
Reset
• Specifies the point No. for the positioning operation.
• Specifies the point No. for current position teaching (MANUAL mode).
Enabled when assigned to the JOG+ signal, with Speed switch function set to
"Enable" and MANUAL set to "OFF".
Performs the positioning operation at the speed set in "Switched speed".
ON: movement enabled; OFF: movement disabled; If switched OFF during
movement, a deceleration stop occurs.
Begins positioning to the specified point.
Enabled when assigned to the START signal, with /LOCK set to OFF in the
MANUAL mode.
Sets (teaches) the current position at the specified point No.
• Alarm reset
• Point No. output reset
• Relative positioning "remaining movement amount" clear
SERVO
Servo ON
POUT0 to
POUT7
Point No. output
0 to 7
• Outputs the point No. of the positioning operation.
• Outputs the alarm No. of the alarm which occurred.
OUT0
Control output 0
OUT1
Control output 1
OUT2
Control output 2
OUT3
Control output 3
Assigns the following outputs by I/O parameter setting:
• Zone output • Personal zone output
• MANUAL mode status • Return-to-origin end status
• Push status • Warning output
• NEAR output • Movement-in-progress output
ZONE
*1
Zone output
*1
PZONE
*1
MANU-S
Outputs
Description
ON: servo on; OFF: servo off.
ON when robot enters the parameter-specified zone.
Personal zone output
ON when specified zone for each point is entered.
MANUAL mode status
ON when in the MANUAL mode.
ORG-S
*1
Return-to-origin end status
ON at return-to-origin end.
TLM-S
*1
Push status
ON during push operation.
/WARN
*1
Warning output
OFF when a warning alarm occurs.
NEAR
*1
NEAR output
MOVE
*1
Movement-in-progress
ON while movement is in progress.
BUSY
Operation-in-progress
ON while operation is in progress.
END
Operation end
Operation result output; ON at normal end.
/ALM
Alarm
ON when normal. OFF when alarm occurs.
SRV-S
Servo status
ON near the end of positioning.
ON when servo is on.
*1. Used for OUT0 to OUT3 signal assignment by parameter selection. The factory settings when shipped are as follows: OUT0 = PZONE,
OUT1 = NEAR, OUT2 = TLM-S, OUT3 = ORG-S.
4-6
3. I/O signal details
This section explains the I/O signals in detail.
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.
• Input example
PIN7
0
PIN0
0
1
0
1
0
0
1
Sum at ON
Example
1
2
1
0
22
0
23
8
4
0
2
25
32
26
0
7
0
2
4
Total = 41
(Point No.41)
■ ■ JOG+ / JOGWhile this input is ON in the MANUAL mode, JOG movement to the specified direction's (+/-) soft limit occurs. When
this input switches OFF, a deceleration stop occurs. (See section 4.2, "JOG movement", in Chapter 5.)
■ ■ SPD
Switches the overall positioning operation speed between two levels.
* Assigned to JOG+ terminal when "Speed switch function" (K17) is set to "Enable".
* This cannot be assigned when in MANUAL mode (MANUAL=ON).
c
CAUTION
This function is available from controller's software version 1.06.111 onwards.
n
NOTE
Refer to section 3.8, "Speed switch function", in Chapter 5 for more details.
■ ■ MANUAL
The MANUAL mode is established when this input switches ON. The MANUAL mode status is output to MANU-S.
■ ■ ORG
This input executes a return-to-origin operation, thereby setting the robot's coordinates and enabling positioning
operations. The return-to-origin method varies according to the robot type and configuration. (See section 2, "Origin
search (return-to-origin)", in Chapter 5.)
■ ■ /LOCK (interlock)
A deceleration stop occurs if this input switches OFF during operation. This input must be ON in order to operate the
robot.
w
WARNING
Interlocks are not safety inputs, and should not be used for safety purposes.
Servos do not switch OFF even if an interlock is applied.
4-7
I/O signal functions
2
0
■ ■ START
This input begins positioning to the point data specified by the PIN0 to PIN7 point No. select input.
n
NOTE
This input is enabled only when the MANUAL mode is OFF.
■ ■ TEACH
This input sets (teaches) the current position at the point data position specified by PIN0 to PIN7 (point No. select).
n
NOTE
The TEACH input is only enabled when in the MANUAL mode (MANUAL = ON), with the /LOCK (interlock) input
OFF.
■ ■ RESET
The following operations occur at the leading edge of the RESET signal ON.
(1)Alarm reset
4
After an alarm has occurred and its cause has been eliminated, the alarm status is cleared when this signal is switched
ON. After the alarm status clears, the /ALM signal switches ON.
Some alarm statuses cannot be cleared by the RESET signal. (See Chapter 6 "Troubleshooting".)
(2)Point No. output clear
I/O signal functions
The POUT0 to POUT7 outputs are reset (all points OFF).
(3)Relative positioning's "remaining movement amount" clear
When restarted after a relative positioning stop, the "remaining movement amount" for the previous relative
positioning operation is cleared.
■ ■ SERVO
A servo ON status is established while this signal is ON. The servo ON status is output to SRV-S.
A servo ON is not possible while an alarm is active.
c
4-8
CAUTION
A "servo OFF" should be performed only when operation is stopped. Do not use "servo OFF" to perform
emergency stops.
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.
• Output example
POUT7
0
0
POUT0
1
0
1
0
0
1
Sum at ON
Example
2
0
1
2
1
0
2
2
0
23
8
2
4
0
2
5
32
0
27
0
4
■ ■ OUT0 to OUT3 (control outputs)
Performs the following outputs which have been assigned by the OUT0 Select (K21) to OUT3 Select (K24) I/O parameters.
No.
Signal Type
0
-
1
PZONE
2
Description
No output
Default
-
Personal zone output
OUT0
NEAR
NEAR output
OUT1
3
TLM-S
Push status
OUT2
4
ORG-S
Return-to-origin end status
OUT3
5
ZONE
Zone output
-
6
MOVE
Movement-in-progress
-
7
/WARN
Warning output
-
8
MANU-S
MANUAL mode status
-
■ ■ BUSY
This signal is ON while operation is in progress.
TIP
• The "BUSY" ON conditions are "operation in progress" OR "RUN command input in progress".
• This signal also switches ON during magnetic pole detection at first "servo ON". (TS-P only)
■ ■ END
Outputs the operation's execution result. This signal switches OFF during operation, and switches ON if operation ends
normally. If the operation ends in error, this signal remains OFF.
TIP
The END signal will not switch ON after a normal operation stop if the RUN command input is ON. The END signal
switches ON only after the RUN command input switches OFF.
■ ■ /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.
4-9
I/O signal functions
26
Total = 41
(Point No.41)
■ ■ PZONE
This signal switches ON during a positioning operation when the current position enters the point data's "Zone+" and
"Zone-". After positioning ends, this signal remains enabled until the next positioning operation is executed.
This signal is enabled only when assigned to one of the OUT0 to OUT3 control outputs.
■ ■ NEAR
This signal switches ON during a positioning operation when the current position enters tolerance distance range versus
the target position (the tolerance distance is specified by the point data's "Near Width" setting). After positioning ends,
this signal remains enabled until the next positioning operation is executed.
This signal is enabled only when assigned to one of the OUT0 to OUT3 control outputs.
■ ■ TLM-S
This signal output is ON during a push operation.
This signal is enabled only when assigned to one of the OUT0 to OUT3 control outputs.
■ ■ ORG-S
4
This signal output is ON when return-to-origin is complete, and is OFF when incomplete.
This signal is enabled only when assigned to one of the OUT0 to OUT3 control outputs.
■ ■ ZONE
I/O signal functions
This signal switches ON only while the current position is within the zone specified by the "Zone (-)" and "Zone (+)"
parameters, and it can be used to verify the robot position at the host unit, or to identify zones where movement is
permitted or prohibited, etc.
This signal is enabled only when assigned to one of the OUT0 to OUT3 control outputs. It is disabled until a return-toorigin is completed.
■ ■ MOVE
This signal switches ON while movement is in progress (while the actual speed exceeds the "movement-in-progress"
output level (K12)). This signal is enabled only when assigned to one of the OUT0 to OUT3 control outputs.
■ ■ /WARN
This signal remains OFF while a warning alarm is active, and is enabled only when assigned to one of the OUT0 to
OUT3 control outputs.
■ ■ MANU-S
This signal switches ON when the MANUAL mode input switches ON, and switches OFF when the MANUAL mode
inputs switches OFF.
This signal is enabled only when assigned to one of the OUT0 to OUT3 control outputs.
■ ■ READY (R-RDY)
This signal outputs the CC-Link communication status. This signal is ON when the communication status is normal. (This
signal is enabled only when using the CC-Link option.)
4-10
Chapter 5 Operation
Contents
1. Operation procedure
1.1
Overall operation timing chart
1.1.1
1.1.2
1.1.3
1.1.4
TS-S TS-S2 TS-SH TS-X TS-P Communication check (field network)
1.2
Alarm occurrence and clearing
5-1
5-1
5-1
5-2
5-3
5-4
5-5
2. Origin search (return-to-origin)
TS-S2
5-6
2.1
Origin point detection method TS-S
TS-X
TS-SH 5-6
2.2
Origin point detection method TS-P 2.3
Origin point and coordinates relationship
5-10
2.4
Return-to-origin timing chart
5-10
3. Positioning operation
5-11
5-7
3.1
Basic operation
5-11
3.2
Positioning timing chart
5-14
3.3
Positioning merge operation
5-16
3.4
Push operation
5-18
3.5
Deceleration push operation
5-20
3.6
Continuous operation
5-21
3.7
Output function
5-22
3.8
Speed switch function
5-23
3.9
Limitless rotation function
5-24
3.10
Operation examples
5-25
4. MANUAL mode
5-28
4.1
MANUAL mode timing chart
5-28
4.2
JOG movement
5-29
4.3
TEACH (Teaching)
5-30
5. Remote commands
5-31
5.1
Overview
5-31
5.2
Remote command list
5-31
5.3
Timing chart
5-35
5.4
Query
5-36
5.5
Point data writing
5-37
5.6
Point data reading
5-38
5.7
Parameter data writing
5-39
5.8
Parameter data reading
5-40
5.9
Continuous query
5-41
5.10
Positioning operation
5-42
5.11
Special codes
5-44
6. Operation modes
5-45
7. Other functions
5-46
7.1
Soft limit function
5-46
7.2
Zone output function
5-46
7.3
Alarm No. output function
5-47
7.4
Changing the payload
5-47
7.5
Stop mode TS-S
7.6
Magnetic pole position estimation TS-P TS-S2
TS-SH 5-48
8. LED status indicators
9. TS-Monitor (Option) TS-X
5-48
5-49
TS-P 5-50
9.1
Part names and functions
5-50
9.2
Opening or closing the TS-Monitor
5-50
9.3
Changing the screen
5-51
9.4
Screen configuration and meaning
5-52
9.5
Screen color in case of alarm
5-56
9.6
SETUP screen
5-57
1. Operation procedure
1.1
Overall operation timing chart
The operation timing chart from "power ON" to the "positioning operation" is shown below.
1.1.1
TS-S
TS-S2
TS-SH
The TS-S, TS-S2 and TS-SH timing chart is shown below.
From power ON to positioning operation
TS-S
TS-S2
TS-SH
1
Control power (CP24V)
*4 *5
7
2
Initial processing
Operation end (END)
8
11
13
3
Emergency stop
(E-STOP)
*1
Main power (MP24V)
4
5
Alarm (/ALM)
5
Interlock (/LOCK)
Servo ON (SERVO)
Operation
Servo status (SRV-S)
6
Return-to-origin (ORG)
Return-to-origin
end status (ORG-S)
*2
Operation-in-progress
(BUSY)
Point No. select
(PIN0 to PIN7)
9
00h
01h
10
00h
12
Start (START)
Td≥5ms *3
Point No. output
(POUT0 to POUT7)
00h
01h
23501-M3-00
1:Turn the control power ON.
2:After initial processing is completed the END signals switch ON.
3:The safety circuit and main circuit switch ON.
4:The /ALM signal switches ON.
5:The /LOCK and SERVO inputs switch ON.
6:After the SRV-S signal switches ON, the ORG input switches ON.
7:The END signal switches OFF when the return-to-origin begins, and BUSY switches on.
8:The ORG input switches OFF when the ORG-S signal switches ON. At this time, END switches ON, and BUSY switches OFF.
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. The specified positioning point No. is
output (this output is also possible when the robot starts moving.).
*1 :F or details regarding how to configure "emergency stop" and "main power" related safety circuits (external main
power breaker circuit), see section 9, "Configuring an emergency stop circuit", in Chapter 2.
*2 :T he ORG-S signal is assigned to one of the OUT0 to OUT3 control outputs. It is factory-assigned to OUT3 prior to
shipment.
*3 :A delay of 5ms or longer is required between the point No. input and the START command input in order to ensure
that the point No. is specified.
*4 :I t takes approx. 1 sec. When the initial processing is completed, the END output switches ON. However, when a
field network option, such as CC-Link is installed, this period of time until the END is output may differ. (For
details, see section 1.1.4, "Communication check (field network)", in Chapter 5.)
*5 :D ata may be output from the COM port on the controller during initial processing. Discard all of those data.
5-1
1.1.2
TS-X
The following shows the timing chart of the TS-X controller.
From power ON to positioning operation
TS-X
1
Control power (L1, N1)
*4 *5
Initial processing
Main power READY
(MPRDY)
2
7
8
11
13
Operation end (END)
Emergency stop
(E-STOP)
3
*1
Main power (L, N)
4
Alarm (/ALM)
5
Interlock (/LOCK)
5
Servo ON (SERVO)
Servo status (SRV-S)
6
Operation
Return-to-origin (ORG)
Return-to-origin
*2
end status (ORG-S)
Operation-in-progress
(BUSY)
Point No. select
(PIN0 to PIN7)
9
00h
01h
10
00h
12
Start (START)
Td≥5ms *3
Point No. output
(POUT0 to POUT7)
00h
01h
23501-M1-00
1:Turn the control power ON.
2:After initial processing is completed the MPRDY and END signals switch ON.
3:The safety circuit and main circuit switch ON.
4:The /ALM signal switches ON.
5:The /LOCK and SERVO inputs switch ON.
6:After the SRV-S signal switches ON, the ORG input switches ON.
7:The END signal switches OFF when the return-to-origin begins, and BUSY switches on.
8:The ORG input switches OFF when the ORG-S signal switches ON. At this time, END switches ON, and BUSY switches OFF.
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. The specified positioning point No. is
output (this output is also possible when the robot starts moving.).
*1 :F or details regarding how to configure "emergency stop" and "main power" related safety circuits (external main
power breaker circuit), see section 10.2, "Wiring and connecting the EXT connector", in Chapter 2.
*2 :T he ORG-S signal is assigned to one of the OUT0 to OUT3 control outputs. It is factory-assigned to OUT3 prior to
shipment.
*3 :A delay of 5ms or longer is required between the point No. input and the START command input in order to ensure
that the point No. is specified.
*4 :I t takes approx. 1 sec. When the initial processing is completed, the END output switches ON. However, when a
field network option, such as CC-Link is installed, this period of time until the END is output may differ. (For
details, see section 1.1.4, "Communication check (field network)", in Chapter 5.)
5-2
*5 :D ata may be output from the COM port on the controller during initial processing. Discard all of those data.
1.1.3
TS-P
The following shows the timing chart of the TS-P controller.
From power ON to positioning operation
TS-P
1
Control power (L1, N1)
*5 *6
2
Initial processing
Main power READY
(MPRDY)
7
8
13
11
Operation end (END)
3
Emergency stop
(E-STOP)
*1
Main power (L, N)
4
Alarm (/ALM)
5
Interlock (/LOCK)
5
Servo ON (SERVO)
Servo status (SRV-S)
6
Operation
Return-to-origin (ORG)
*2
Return-to-origin
end status (ORG-S)
Operation-in-progress
(BUSY)
Point No. select
(PIN0 to PIN7)
*4
9
00h
01h
10
00h
12
Start (START)
Td≥5ms *3
Point No. output
(POUT0 to POUT7)
00h
01h
23501-M2-00
1:Turn the control power ON.
2:After initial processing is completed the MPRDY and END signals switch ON.
3:The safety circuit and main circuit switch ON.
4:The /ALM signal switches ON.
5:The /LOCK and SERVO inputs switch ON.
6:After the SRV-S signal switches ON and the BUSY signal switches OFF, the ORG input switches ON.
7:The END signal switches OFF when the return-to-origin begins, and BUSY switches on.
8:The ORG input switches OFF when the ORG-S signal switches ON. At this time, END switches ON, and BUSY switches OFF.
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. The specified positioning point No. is
output (this output is also possible when the robot starts moving.).
*1 :F or details regarding how to configure "emergency stop" and "main power" related safety circuits (external main
power breaker circuit), see section 10.2, "Wiring and connecting the EXT connector", in Chapter 2.
*2 :T he ORG-S signal is assigned to one of the OUT0 to OUT3 control outputs. It is factory-assigned to OUT3 prior to
shipment.
*3 :A delay of 5ms or longer is required between the point No. input and the START command input in order to ensure
that the point No. is specified.
*4 :B USY switches ON during magnetic pole detection at first "servo ON". (See section 7.6, "Magnetic pole position
estimation", in Chapter 5.)
*5 :I t takes approx. 1 sec. When the initial processing is completed, the END output switches ON. However, when a
field network option, such as CC-Link is installed, this period of time until the END is output may differ. (For
details, see section 1.1.4, "Communication check (field network)", in Chapter 5.)
*6 :D ata may be output from the COM port on the controller during initial processing. Discard all of those data.
5-3
1.1.4 Communication check (field network)
In a field network, always check that the communication state is normal before starting operation. When using
the host unit's communication status flag to monitor the communication state, allow a time delay of about
200ms after recognizing a normal state, and then start operation. If the time delay is short, the controller
output information may not be read correctly, so the operation cannot start normally.
Field network
Communication status *
Communication error
Data undefined region
Alarm (/ALM)
Servo ON (SERVO)
200ms or less
23501-M0-00
* In the case of CC-Link, the time delay is not required if remote READY (R-RDY) is used to check whether the link state
is normal.
5
Operation
5-4
1.2
Alarm occurrence and clearing
The operation timing chart from "alarm occurrence" to "alarm clear" is shown below.
"alarm occurrence" to "alarm clear"
Point No. select
(PIN0 to PIN7)
Point No. output
(POUT0 to POUT7)
00h
Setting
Setting
00h
*2
Alarm No.
00h
1
Alarm (/ALM)
Error occurrence
3
Reset (RESET)
4
5
*1
2
Servo ON (SERVO)
6
Servo status (SRV-S)
Start (START)
5
Operation-in-progress
(BUSY)
Operation end (END)
23502-M0-00
2:The SERVO input switches OFF.
3:The RESET input switches ON after the alarm cause has been eliminated.
4:/ALM and END switch ON.
5:The RESET input switches OFF, and the SERVO input switches ON.
6:SRV-S switches ON and the START input is enabled.
*1 :R ESET is enabled after the alarm cause has been eliminated. Although some alarms can be cleared simply by
eliminating the cause and executing a RESET, others require a restart. For alarm details, see Chapter 6
"Troubleshooting".
*2 :T he No. output at alarm occurrences can be enabled/disabled by the K30 (Alarm No. output function) I/O
parameter setting. For details, see section 4.2.2, "I/O Parameters", in Chapter 3.
5-5
Operation
1:/ALM switches OFF if an error occurs during operation. BUSY and SRV-S also switch OFF at this time, and the alarm
No. is output. END remains OFF.
2. Origin search (return-to-origin)
This controller needs to determine the origin point in order to operate the robot in the single axis coordinate
system. This operation is called "origin search" (or "return-to-origin").
Performing the return-to-origin will set the coordinates of the robot and enable the positioning operation.
n
NOTE
For the robot with the incremental specifications, the return-to-origin of the robot is needed each time the
control power is started.
2.1
Origin point detection method TS-S
TS-S2
TS-X
TS-SH
The following methods are available to detect the origin point. Each detection method is set as follows:
Origin Detection Method
TS-S
TS-S2, TS-SH
TS-X
Stroke-end method
Sensor method
*
Mark method
5
: Factory setting; : Supported; : Not supported
* This origin point detection method is available from software version Ver. 1.10.121 onwards. (This function
is enabled only when the robot I/O setting is set at "SENSOR".)
l Absolute function TS-X
TS-SH
Operation
The absolute function is enabled by connecting the absolute battery (optional). Once the absolute battery has been
connected and a single return-to-origin has been executed, further return-to-origins are not required at subsequent power
ONs because the origin position information is saved.
■ ■ Stroke-end (torque detection) method
Movement in the return-to-origin direction occurs when a return-to-origin begins, and continues until the mechanical
end is struck. The movement direction is reversed at that time by motor torque detection, and returns by an amount
which is unique to each robot. Movement then stops, and a return-to-origin end status is established.
Stroke-end (torque detection) method
Return-to-origin direction (K14) = 0 (CCW)
Return-to-origin direction (K14) = 1 (CW)
L
L
S
S
O
K13
Return-to-origin direction
Motor side
O
K13
Motor side Return-to-origin direction
S: Return-to-origin start position; 0: Origin point; L: Reversed (return) movement amount; K13: Return-to-origin speed
23502-M1-00
■ ■ 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 method
Return-to-origin direction (K14) = 0 (CCW) Return-to-origin direction (K14) = 1 (CW)
Sensor
S
O
Motor side
S
Sensor
O
K13
K13
Return-to-origin direction Motor side Return-to-origin direction
S: Return-to-origin start position; 0: Origin point; K13: Return-to-origin speed
23503-M1-00
5-6
■ ■ Mark method
When the mark method is specified (K66 (return-to-origin method): "Mark") as origin point detection method, movement
in the return-to-origin direction occurs when a return-to-origin begins, and movement stops at the nearest motor
reference position. A return-to-origin end status is then established.
c
CAUTION
The appropriate return-to-origin method is factory-set for each robot according to its type. If you want to change
the return-to-origin method, contact YAMAHA.
An alarm may occur during return-to-origin operation if the return-to-origin speed is set too high. Always set it to
an appropriate value.
2.2
Origin point detection method TS-P
The origin point can be detected by any of the following methods. The method used varies according to the
robot type and the system configuration.
Type
Incremental
Origin point detection method
Semi-absolute
Stroke-end method
Sensor method
Stroke-end method
5
Absolute search
Sensor method
: Factory setting;
: Supported;
: Not supported
"Semi-absolute" is the name for a simple absolute scale used in the PHASER series robots that can be operated with this
controller. This is a position detection scale with a quick absolute search function that performs an absolute search on
the scale when an origin search (return-to-origin) command is input and determines the absolute position with just a
minimal movement. Using this scale drastically reduces the time needed for return-to-origin operation by PHASER series
robots, especially those with long-stroke movements.
l Incremental
Controls an incremental type robot. A return-to-origin operation for the robot is required each time the control power is
turned on.
■ ■ Stroke-end (torque detection) method
Movement in the return-to-origin direction occurs when a return-to-origin begins, and continues until the mechanical
end is struck. The movement direction is reversed at that time by motor torque detection, and returns by an amount
which is unique to each robot. Movement then stops, and a return-to-origin end status is established.
Stroke-end (torque detection) method
Torque detection
Return-to-origin direction (K14) = 0 (CCW) Return-to-origin direction (K14) = 1 (CW)
L
When robot
reaches
mechanical end
after passing
phase Z
L
S
S
O
O
K13
L side Phase Z
R side
Return-to-origin direction
K13
Phase Z R side
L side
Return-to-origin direction
L
When robot
reaches
mechanical end
before passing
phase Z
L
O
S
S
K13
L side Phase Z
R side
Return-to-origin direction
O
K13
Phase Z R side
L side
Return-to-origin direction
S: Return-to-origin start position; O: Origin point; L: Reversed (return) movement amount; K13: Return-to-origin speed
23502-M2-00
5-7
Operation
l Semi-absolute
■ ■ 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 method
Sensor detection Return-to-origin direction (K14) = 0 (CCW) Return-to-origin direction (K14) = 1 (CW)
When sensor is
detected after
passing phase Z
When sensor is
detected before
passing phase Z
Sensor
O
S
K13
L side Phase Z
R side
Return-to-origin direction
O
K13
Phase Z R side
L side
Return-to-origin direction
S
S
K13
O
K13
Phase Z
R side
Return-to-origin direction
L side
Sensor
O
S
Phase Z
L side
Return-to-origin direction
R side
S: Return-to-origin start position; O: Origin point; L: Reversed (return) movement amount; K13: Return-to-origin speed
5
23503-M2-00
■ ■ Absolute search (stroke-end method, sensor method)
Operation
When an absolute search (return-to-origin) begins, the robot starts moving toward the origin point and reads phase Z
which is magnetized in the linear scale. When the position is determined, the robot moves back and reads phase Z again
to confirm the position. When the position is again determined, the robot stops to complete the absolute search. The
distance L that the robot moves in the return-to-origin direction is a maximum of 76mm.
Absolute search
Return-to-origin direction (K14) = 0 (CCW) Return-to-origin direction (K14) = 1 (CW)
S
S
K13
K13
L
L side
R side
L
L side
R side
S: Return-to-origin start position, K13: Return-to-origin speed
23504-M2-00
•When the stroke-end method is used to detect the origin point and the mechanical end is struck during
absolute search movement
When an absolute search (return-to-origin) begins, the robots starts moving toward the origin point. When the mechanical
end is struck, the robot moves in the direction opposite to the origin point and reads phase Z which is magnetized in the
linear scale. When the position is determined, the robot again moves toward the origin point and reads phase Z again to
confirm the position. When the position is again determined, the robot stops to complete the absolute search. The
distance L that the robot moves in the return-to-origin direction and in the opposite direction is a maximum of 76mm.
Absolute search operation
Mechanical end is struck.
Return-to-origin direction (K14) = 0 (CCW) Return-to-origin direction (K14) = 1 (CW)
S
L
L side
K13
K13
R side
L side
S
L
R side
S: Return-to-origin start position, K13: Return-to-origin speed
23505-M2-00
5-8
•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. When the position is determined, the robot again moves toward the origin point and reads
phase Z again to confirm the position. When the position is again determined, the robot stops to complete the absolute
search. The distance L that the robot moves in the return-to-origin direction and in the opposite direction is a maximum
of 76mm.
Absolute search operation
Sensor is on.
Return-to-origin direction (K14) = 0 (CCW) Return-to-origin direction (K14) = 1 (CW)
Sensor
Sensor
S
L side
L
K13
K13
R side
L side
S
L
R side
S: Return-to-origin start position, K13: Return-to-origin speed
23506-M2-00
c
CAUTION
The appropriate return-to-origin method is factory-set for each robot according to its type. If you want to change
the return-to-origin method, contact YAMAHA.
An alarm may occur during return-to-origin operation if the return-to-origin speed is set too high. Always set it to
an appropriate value.
5
Operation
5-9
2.3
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.
Return-to-origin direction
Origin coordinates (K15)
Standard Direction
Reverse Direction
Return-to-origin
direction (K14)
Return-to-origin direction
CCW
O
(Origin point)
O
(Origin point)
Coordinate "plus" direction
Return-to-origin direction
CW
5
Return-to-origin direction
O
(Origin point)
Coordinate "plus" direction
Coordinate "plus" direction
Return-to-origin direction
O
(Origin point)
Coordinate "plus" direction
23503-M0-00
■ ■ "Origin shift amount" setting
Operation
The origin point coordinates can be changed by changing the K16 (Origin Shift Amount) parameter setting.
The origin point coordinates are therefore this parameter's setting value.
■ ■ Machine reference
When an origin search (return-to-origin) is performed on a robot using the stroke end (torque) or sensor method, a slight
difference in distance occurs between the position where the origin signal is detected and the reference position of the
motor's position sensor. This difference is called the machine reference and is usually expressed as a percent. The
machine reference is factory-adjusted to within 25% to 75%. (The adjustment range varies according to the robot type.
For details, refer to the user's manual for the robot being used.) The machine reference can be checked by executing a
return-to-origin from the optional Handy Terminal (HT1) or from the support software (TS-Manager).
n
NOTE
The machine reference must be readjusted if it is not within the 25 to 75% range (or if it is outside the allowable
range of the robot being used). For details on the adjustment procedure, please contact us.
2.4
Return-to-origin timing chart
Return-to-origin timing chart
1
3
Return-to-origin (ORG)
2
4
Operation-in-progress
(BUSY)
Return-to-origin end status
(ORG-S)
Operation end (END)
23504-M0-00
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.
5-10
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" or "merge" operation, etc.
3.1
Basic operation
The positioning operation (absolute and relative position movement) and its relationship to the point data is
explained here.
Positioning operation
Speed
Speed
Acceleration
Deceleration
Time
Target position
23505-M0-00
Operation
■ ■ Setting the "Position" data
1.When the RUN type is "ABS"
Positioning occurs to the target position defined by the "position" data.
[Example]:
If positioning to the 300mm position is specified when the current stop position is 50mm:
RUN type: ABS
50mm
Origin point
Current position
300mm
Target position
23506-M0-00
2.When the RUN type is "INC"
Positioning occurs with the value defined by the "position" data representing the amount of movement from the current
stop position.
[Example]:
If positioning to the 300mm position is specified when the current stop position is 50mm:
RUN type: INC
350mm
50mm
Origin point
Current position
Movement amount = 300mm
23507-M0-00
TIP
If relative positioning (INC) is stopped while in progress and then restarted, movement occurs for only the
remaining movement amount. To perform new relative positioning from the stopped position, the RESET
command must first be executed to clear the remaining movement amount.
c
5
CAUTION
"Remaining movement amount" movement occurs only at interlock stops. When a servo OFF occurs due to an
alarm or by an "emergency stop", etc., the relative positioning's remaining movement amount clears, and the
next relative positioning operation begins from the original start position.
5-11
■ ■ 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. The
"Decel." is specified as a percentage of the "Accel." setting.
Point type: Standard setting
Speed
"Speed" setting range: 1 to 100 [%]
When 100%, the max. speed is
1200.00 [mm/s].
Max. speed = 1200.00 [mm/s]
Max. acceleration = 8.00 [m/s2]
Max. payload acceleration = 4.00 [m/s2]
Speed
Acceleration
Deceleration
"Deceleration" setting range: 1 to 100 [%]
"Acceleration setting range: 1 to 100 [%]
Set as a percentage of the
acceleration value.
When 100%, the max. payload accel.
is 4.00 [m/s2].
Time
5
23508-M0-00
2.When using the "Custom setting" point type
Operation
The "Speed" and "Accel." settings are specified by adopting the maximum speed and acceleration (max. payload
acceleration with 0kg payload) values for each robot type as the maximum setting values. If the specified acceleration
value exceeds the max. payload acceleration defined by the payload setting, the max. payload acceleration value is
used as the setting value.
Point type: Custom setting
Speed
"Speed" setting range: 0.01 to 1200.00 [mm/s]
The max. setting value is the max.
speed of each robot type.
Max. speed = 1200.00 [mm/s]
Max. acceleration = 8.00 [m/s2]
Max. payload acceleration = 4.00 [m/s2]
Speed
Acceleration
Deceleration
"Deceleration" setting range: 1 to 100 [%]
"Acceleration setting range: 0.01 to 8.00 [m/s2]
The max. input value is the max.
speed of each robot type.
The max. acceleration is the max.
payload acceleration.
Set as a percentage of the
acceleration value.
Time
23509-M0-00
c
CAUTION
Select "Standard setting" or "Custom setting" in the initial processing performed by the TS-Manager support
software (optional).
■ ■ Speed command error during custom setting
The setting speed error can be calculated according to the relationship between the resolution and lead length per motor
rotation.
Example: When the resolution is 16384 (pulses/rotation) and the lead length (movement amount per rotation) is 20.00
mm, the number of pulses per 1 mm is 819.2 (16384÷20).
When the speed is set to 0.01 mm/s, 8.192 (819.2 x 0.01) is obtained. The fractional portion (0.192 pps) of this
number is truncated (8.192 ⇒ 8 pps).
So, an error of 2.4% (8.192 - 8.000)/8.000) may occur.
c
5-12
CAUTION
This calculated error value is a logical value (reference). Actually, this value may vary depending on the
conditions, such as friction.
■ ■ 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" acceleration selection.
Maximum payload acceleration and the payload
m/s2
Max. payload accel.
(max. accel.) for 0kg payload
Max. payload accel.
for payload setting
Max. payload accel.
for max. payload
Payload
setting value
kg
Max. payload weight
23510-M0-00
■ ■ Relationship between "maximum payload acceleration" and "acceleration"
Maximum payload acceleration and acceleration
Accel. 1
Accel. 1
1200.00mm/s
100%
Accel. 2
30%
Accel. 1 = [max. payload accel.] × [accel. data] / 100
Accel. 2 = optimized value based on accel. 1
Accel. 2
360.00mm/s
Accel. 1 = accel. 2 = accel. data
<With standard setting>
<With custom setting>
23511-M0-00
■ ■ Setting the speed override
The overall positioning operation speed can be adjusted by the K9 (Speed Override) parameter setting. The actual
operation speed will be as shown below. The actual operation speed will be as shown below.
Speed = speed data specified at each point data×speed override (K9) / 100
5-13
5
Operation
In the "Standard setting" point type, the acceleration is optimized within the maximum payload acceleration, based on
the positioning speed and movement distance. The "acceleration" and "maximum payload acceleration" are the same in
cases where the actual operation speed reaches the robot's maximum speed, but in all other cases, the optimum
acceleration is calculated for the positioning operation.
In the "Custom setting" point type, the specified acceleration setting becomes the actual operation acceleration unless it
exceeds the maximum payload acceleration. In that case, it is limited by the maximum payload acceleration (the
operation acceleration cannot exceed the maximum payload acceleration).
■ ■ Acceleration S-cur ve
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.
Acceleration S-curve
Speed
Max. accel.
Time
23512-M0-00
3.2
5
Positioning timing chart
The timing chart for positioning operations is shown below.
■ ■ For "normal end"
Operation
Positioning timing chart
For "normal end"
1
Point No. select
(PIN0 to PIN7)
00h
00h
Setting
Point No. output
(POUT0 to POUT7)
00h
3
2
Positioning operation
Response
5
4
Start (START)
Operation-in-progress
(BUSY)
Td≥5ms
Operation end (END)
23513-M0-00
1:The PIN0 to PIN7 point number settings are specified.
2:The START input switches ON after the Td delay period elapses.
3:When positioning begins, the END signal switches OFF, and the BUSY signal switches ON.
4:The START input switches OFF.
5:When positioning ends, the BUSY signal switches OFF, and the END signal switches ON.
TIP
The "BUSY" ON conditions are "operation in progress" OR "RUN command input in progress".
■ Point No. setting conditions
A delay time (Td) is provided between the point No. setting input and the START command input, and these signals are
input securely until the BUSY signal turns ON. If the point No. is not specified properly due to an insufficient delay
time, a malfunction may occur.
Normally, a delay of 5 ms or longer (reference value) is required.
c
5-14
CAUTION
When the timer function of the host unit is used to specify the delay time, the design is made so that the actual
delay time is longer than the reference value shown above by carefully checking the timer response accuracy.
■ ■ 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. (This parameter is factory-set as "AFTER".)
Point No. outputs
Point No. select
(PIN0 to PIN7)
00h
Setting
00h
Time
AFTER (At positioning end)
Point No. output
(POUT0 to POUT7)
00h
Response
WITH (At positioning start)
Point No. output
(POUT0 to POUT7)
00h
Response
23514-M0-00
n
NOTE
In merge operations, the operation's merge timing is adopted as the point No. output timing.
5
■ ■ For "error end"
If an error occurs before positioning ends, operation stops and the BUSY signal switches OFF. The END signal remains
OFF.
Operation
Point No. outputs
For "error end"
Point No. select
(PIN0 to PIN7)
Point No. output
(POUT0 to POUT7)
00h
Setting
00h
00h
Error occurrence
START
Operation-in-progress
(BUSY)
Operation end (END)
23515-M0-00
An "error end" condition can be caused by the following conditions.
Type
Cause
Error detected prior to
operation
•START input occurred during an operation fault status (alarm, servo OFF, interlock,
return-to-origin not completed).
•START input occurred with data either not set, or with point data set for a position which
exceeds the soft limit.
Error detected during operation
•Alarm occurred during operation.
•Interlock stop processing occurred during operation.
•A push failure occurred during a push operation.
5-15
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).
Merge operation example
Speed
Operation 3
Operation 2
Operation 1
Speed 2
Accel. 1
Decel. 2
Speed 3
Speed 1
5
Decel. 3
Accel. 1
Time
23516-M0-00
Point data settings
Operation
n
No.
RUN type
Position [mm]
Speed[%]
Accel. [%]
Decel. [%]
Jump
P1
ABS merge
200
10
100
100
2
P2
ABS merge
400
100
100
100
3
P3
ABS
500
30
100
100
0
NOTE
• Select "ABS merge" or "INC merge" as the RUN type, then set the next point to be merged at the "Jump" item.
• Even if a "merge" RUN type is selected, merging will not occur if the "Jump" setting is "0". In this case, standard positioning occurs.
• If the merge destination target positions are in both the forward and reverse directions, a deceleration stop occurs, followed by positioning in the opposite direction.
■ ■ Cautions on creation of operation pattern
The deceleration time after the merge is insufficient.
Positioning merge operation
The deceleration time after the merge is insufficient.
Speed
Desirable deceleration
Time
Operation 1
Operation 2
23517-M0-00
5-16
A period of time required to reach the merge destination speed is insufficient.
Positioning merge operation
A period of time required to reach the merge destination speed is insufficient.
Speed
Desirable acceleration
Time
Operation 1
Operation 2
23518-M0-00
c
CAUTION
In the example shown above, a sufficient period of time required for the acceleration or deceleration during
operation cannot be taken, causing the robot operation to malfunction.
Additionally, when the movement direction of the merge destination is reversed, the sufficient acceleration
(deceleration) distance cannot be kept.
To reverse the movement direction, finish the positioning operation once, and then start the movement in the
reverse direction again.
5
Operation
5-17
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
Target position
Time
Torque
Push judgment time (K5)
(K5)
Push force
5
Push status (TLM-S)
Operation
Operation end (END)
23519-M0-00
l Movement speed during push operation
A push operation is performed by suppressing the torque that is generated by limiting the current. Since this operation
also suppresses the current needed to move the robot, a problem may occur if the movement speed is high.
Set the push speed to meet the following conditions:
Speed during push operation ≤ 20.00 [mm/s]
n
NOTE
At Ver.1.02.102 and later controllers, the maximum push operation speed is limited according to the push speed.
■ ■ Push force
The push force is specified as a percentage of the rated current for each robot type.
l About maximum push force
A thrust generated at the push upper limit is called "maximum push force". The maximum push force indicated in each
robot's specifications is the theoretical value (guideline). So, the accrual thrust may vary depending on working
conditions, such as friction and others.
l About push upper limit
This push upper limit shows the maximum setting value which can be set by the push force. This value is unique to
each robot.
5-18
■ ■ 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. If a push operation was stopped and then resumed, the judgment time count is the total time during
which the torque was at the push force level.
Judgment example when push continued
T1 [ms]
T2 [ms]
T3 [ms]
Push status (TLM-S)
Operation end (END)
"Push end" conditions: (T1 + T2 + T3) ≥ push judgment time (K5)
23520-M0-00
■ ■ Selecting the operation which follows the push judgment
The operation which occurs after the push operation ends (after push judgment) can be selected as another push
operation (push continue) or as a positioning operation. This selection is made at the K4 (push mode) RUN parameter.
(Default setting: "Push continue")
■ ■ Push failure judgment
c
CAUTION
If the intended push operation cannot be performed, possible causes are:
• Push judgment time is too short.
• Acceleration during push operation is too large.
• Push operation was started too soon after an operation other than push was performed.
In these cases, taking account of the effects on the object to be pushed, make adjustments such as to extend
the push judgment time, reduce the acceleration, and set a timer before starting push operation.
5-19
5
Operation
If positioning to the target position is completed before the push judgment has ended, this is processed as a "push
failure". This "push failure" function can be enabled/disabled by the K4 (push mode) RUN parameter setting.
If failed to push, a "PUSH MISTAKE" alarm (operation alarm No. 47) occurs.
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.
Deceleration push operation
Speed
Torque limit zone
Speed
Push speed
(K6)
Torque
5
Deceleration ends when the
"near width" setting value
(distance) zone is entered
("near" refers to "near the
target position"), and the
push operation then begins.
Target position
Time
Push judgment time
(K5)
Push force
Operation
"Near width" output (NEAR)
Push status (TLM-S)
Operation end (END)
23521-M0-00
n
c
5-20
NOTE
• The "push force", "push judgment time", "operation after the push judgment", and "push failure judgment", etc., settings are specified in the same manner as for a standard push operation.
• The torque limit remains in effect until the next operation begins.
CAUTION
A "near width" distance should be specified which allows an adequate distance for the deceleration speed to be
reached. A fast push speed and very small "near width" distance, for example, could hinder operation.
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" specified point No. Operation ends when there
are no more "Jump" settings.
The figure below shows the following continuous operation example: Operation 1 (P1 positioning)
(P2 positioning)
Operation 3 (P3 positioning).
Operation 2
Continuous operation example
Speed
Operation 1
Operation 3
Operation 2
Time
Timer 1
Timer 2
5
Operation-in-progress
(BUSY)
Operation end (END)
00h
Operation 1 response
Operation 2 response
Operation 3 response
23522-M0-00
Point data settings
n
No.
RUN type
Position [mm]
Speed [%]
Accel. [%]
Decel. [%]
Jump
Timer [sec]
P1
ABS
200
100
100
100
2
500
P2
ABS
400
30
100
100
3
1000
P3
ABS
500
30
100
100
0
0
NOTE
• The next positioning point No. for continuous operation is specified by the "Jump" setting.
• If a delay (wait) time is desired before proceeding to the next positioning operation, it can be specified at the "Timer" setting.
• When "Jump" is not specified (set to 0), the operation ends when that positioning is completed.
TIP
When the "POUT select" I/O parameter is set to "AFTER", the point No. output occurs after each positioning
operation, regardless of the timer setting.
5-21
Operation
Point No. output
(POUT0 to POUT7)
3.7
Output function
During positioning operations, individual operation speeds and position information are transmitted to the host
unit by the outputs shown below.
Output function
Speed
Speed
Accel.
Decel.
Movement-in-progress
output level (K12)
Target position
Zone -
Zone +
Movement-in-progress
output (MOVE)
Position
Near width
Personal zone
output (PZONE)
5
Near width output
(NEAR)
23523-M0-00
Operation
■ ■ Personal zone output (PZONE)
This output switches ON when the current position enters the zone of each point.
■ ■ Near width (NEAR)
This output switches ON when the current position enters the near width zone (near-target-position zone).
■ ■ Movement-in-progress output (MOVE)
This output is ON while robot movement is in progress. The minimum speed for recognizing a movement-in-progress
condition can be specified at the K12 (movement-in-progress output level) RUN parameter.
5-22
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. SPD
will be ON at the same time as the selection of point number, and the positioning operation will be performed at the
speed calculated by multiplying the current speed by the value specified at "Switched speed" (K18).
SPD
n
Speed
OFF
Speed 1 = Specified speed
ON
Speed 2 = Specified speed×Switched speed (K18) / 100
NOTE
• Cannot be assigned in the manual mode (MANUAL=ON).
• Specified speed means "speed data specified at each point data×speed override (K9) / 100".
■ ■ Timing chart
Speed switch function
Point No. select
(PIN0 to PIN7)
00h
Setting
00h
OFF
5
00h
ON
Operation
Switched speed
(SPD)
Setting
Speed 1
Speed 2
START
Td
Td
Operation-in-progress
(BUSY)
Operation end (END)
23524-M0-00
c
CAUTION
This function is available from controller's software version 1.06.111 onwards.
5-23
3.9
Limitless rotation function
This limitless rotation function achieves the multi-rotation motion in the same direction. Use of the limitless
rotation function makes it possible to support the index table using the rotary axis model. The limitless rotation
provides three kinds of operation methods, normal rotation, reverse rotation, and shorter rotation.
■ ■ Setting procedure
As "Limitless setting" (K19) is set enabled (1), the limitless rotation select flag of the point data is enabled. At this time,
when "K19" is set at "2", all positioning operations are fixed at "shorter rotation".
Flag bit setting
b3 to b2
c
Meaning
Setting Value/Setting Range
Limitless rotation select
Selects the operation method of the limitless
rotation function.
b3 b2
00 : Normal rotation
01 : Reverse rotation
1x : Shorter rotation
CAUTION
The limitless rotation function is available from controller’s software version Ver. 1.10.121.
■ ■ Limitations (cautions) on limitless rotation
111 Absolute function
5
When the multi-rotation motion continues in the same direction, the error alarm, "Absolute count error", occurs and
the rotation stops if the number of rotation motions exceeds its upper limit since the multi-rotation counter of the
absolute function is finite.
Therefore, when performing the multi-rotation motion in the same direction, it is recommended to set the absolute
function disabled.
222 Positioning operation
The following describes the limitations on positioning operation when the limitless rotation function is selected.
Operation
• "Normal rotation", "reverse rotation", and "shorter rotation" functions are enabled only when the operation type is
"ABS" or "ABS Push".
• W hen the limitless rotation function is selected, the positioning merge operation cannot be performed. When the
limitless rotation function is executed with "ABS Merge", "INC Merge", "ABS → Push" or "INC → Push" set for the
operation type, the error alarm, "4B; LIMITLESS ERROR", occurs.
• The JOG operation stops temporarily when it steps over the 0° (360°) boundary. (The maximum movable range per
operation is limited to 360°.)
333 Point data setting
The settable position data in the limitless rotation is limited to 0 to 360.00° when the operation type is "ABS". It is
limited to -360.00 to 360.00° when the operation type is "INC".
When the operation is performed with data beyond this limit written, the error alarm, "4B; LIMITLESS ERROR",
occurs. At this time, the softlimit function is disabled.
■ ■ Details of limitless rotation
The limitless rotation provides three kinds of operation methods, normal rotation, reverse rotation, and shorter rotation.
The following describes operation examples of operation 1 (P1 → P2) and operation 2 (P2 → P1).
Limitless rotation method
0° (P1)
90°
(P2)
270°
180°
P1
Number
Operation type
-
Position
[mm]
Speed
[%]
Acceleration Deceleration
[%]
[%]
P1
ABS
0.00
100
100
100
P2
ABS
90.00
100
100
100
Operation 1 (P1 → P2)
Operation 2 (P2 → P1)
P1
Operation 1
Operation 2
P1
Operation 2
Operation 1
P2
P2
Operation 2
1. Normal rotation
The positioning operation with
"normal rotation" specified
moves in the plus direction of
the coordinates regardless of
the movement distance.
P2
Operation 1
2. Reverse rotation
The positioning operation with
"reverse rotation" specified
moves in the minus direction of
the coordinates regardless of
the movement distance.
3. Shorter rotation
The positioning operation with
"shorter rotation" specified
moves in a rotation direction of
shorter movement distance.
23541-M0-00
5-24
3.10 Operation examples
Setting example 1
Movement between 2 points, standard setting
Speed
A
100%
Position
P1
(200mm)
P2
(500mm)
100%
B
23525-M0-00
A:P 1
No.
RUN type
Position [mm]
Speed [%]
Accel. [%]
Decel. [%]
Flag
P1
ABS
200
100
100
100
1
P2
ABS
500
100
100
100
0
5
P2 positioning occurs.
B:R eturn to P1.
Operation
Setting example 2
Movement between 2 points, custom setting
Speed
A
500.00mm/s
Position
250.00mm/s
P1
(200mm)
P2
(500mm)
B
23526-M0-00
A:P 1
No.
RUN type
Position [mm]
Speed [%]
Accel. [%]
Decel. [%]
P1
ABS
200
250.00
4.00
100
P2
ABS
500
500.00
4.00
50
P2 positioning occurs.
B:R eturn to P1.
5-25
Setting example 3
Positioning + pitch feed
Speed
100%
A
P1
(0mm)
100mm
100mm
100mm
Position
B
P2
(200mm)
100%
C
23527-M0-00
5
A:P 1
No.
RUN type
Position [mm]
Speed [%]
Accel. [%]
Decel. [%]
P1
ABS
0
100
100
100
P2
ABS
200
100
75
100
P3
INC
100
100
100
100
P2 positioning occurs.
B:P itch feed corresponding to the P3 movement amount occurs.
C:R eturn to P1.
Operation
Setting example 4
Merge operation
Speed
100%
A
10%
Position
P1
(0mm)
P3
(400mm)
P2
(200mm)
P4
(500mm)
100%
B
23528-M0-00
No.
RUN type
Position [mm]
Speed [%]
Accel. [%]
Decel. [%]
Jump
P1
ABS
0
100
100
100
0
P2
ABS Merge
200
100
100
100
3
P3
ABS Merge
400
10
100
100
4
P4
ABS
500
100
100
100
0
A:M erge operation from P1
B:R eturn to P1.
5-26
P2
P3
P4.
Setting example 5
Workpiece push
Speed
A
B
P3
(100mm)
100%
Workpiece
P1
(0mm)
Position
P2
(350mm)
100%
C
23529-M0-00
No.
RUN type
Position [mm]
Speed [%]
Accel. [%]
Decel. [%]
Push Force [%]
P1
ABS
0
100
100
100
100
P2
ABS
350
100
100
100
100
P3
INC Push
100
10
100
100
70
A:P 1
5
P2 positioning occurs.
B:P ush operation corresponding to the P3 movement amount occurs.
C:R eturn to P1.
Operation
Setting example 6
Workpiece push
Speed
A
B
1000.00mm/s
100mm
Push speed (K6)
P1
(0mm)
Workpiece
P2
(450mm)
P3
(350mm)
1000.00mm/s
Position
C
23530-M0-00
No.
RUN type
Position [mm]
Speed [%]
Accel. [%]
Decel. [%]
P1
ABS
0
1000.00
4.00
100
100
1.00
450
1000.00
4.00
100
70
100.00
350
100.00
1.00
100
100
1.00
P2
ABS
P3
A:P 1
Push
ABS
Push Force [%] Near Width [mm]
P2 push operation occurs (deceleration occurs 100.00mm before P2).
B:A fter push operation ends, positioning to P3 occurs.
C:R eturn to P1.
5-27
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.
4.1
MANUAL mode timing chart
MANUAL mode
MANUAL mode
(MANUAL)
*1
MANUAL mode
status (MANU-S)
*2
Interlock
(/LOCK)
*3
JOG plus-direction
movement (JOG+)
5
JOG minus-direction
movement (JOG-)
Operation
Point No. select
(PIN0 to PIN7)
00h
Setting
00h
Teaching (TEACH)
Operation-in-progress
(BUSY)
Td
Operation end (END)
23531-M0-00
*1 :T he MANUAL mode is established while the MANUAL input is ON.
*2 :T he MANU-S output can be assigned to the OUT0 to OUT3 control outputs. This requires the assignments to be
specified by I/O parameter setting.
*3 :T he interlock function must be OFF in order to execute the TEACH command.
5-28
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.
JOG movement
JOG
Speed
Jog speed
(K10)
Inching width
(K11)
JOG response time (K32)
Time
BUSY
END
23532-M0-00
l When the K32 (JOG response time) I/O parameter is set as "0":
5
Movement continues at the JOG speed (K10) until the JOG input switches OFF.
l When the K32 (JOG response time) I/O parameter is set as other than "0":
c
CAUTION
The soft limit is disabled if a return-to-origin has not been completed. Use care when performing operations at
this time.
5-29
Operation
Movement corresponding to the inching amount (K11) occurs at the leading edge of the JOG movement input ON, and,
after the JOG response time elapses, movement continues at the JOG speed (K10) until the JOG movement input switches
OFF.
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.
n
NOTE
The TEACH function is disabled if a return-to-origin has not yet been completed.
Current position is written to the specified point No.
Current position
210mm
Origin point
Position
23533-M0-00
l Writing the current position to a point for which data exists
No.
RUN type
Position [mm]
Speed [%]
Accel. [%]
Decel. [%]
Flag
P3
ABS
500
50
100
100
0
▼ TEACH
5
No.
RUN type
Position [mm]
Speed [%]
Accel. [%]
Decel. [%]
Flag
P3
ABS
210
50
100
100
0
The current position is written to the position data.
Operation
l Writing the current position to a point for which data does not exist
No.
RUN type
Position [mm]
Speed [%]
Accel. [%]
Decel. [%]
Flag
P3
-
-
-
-
-
-
▼ TEACH
No.
RUN type
Position [mm]
Speed [%]
Accel. [%]
Decel. [%]
Flag
P3
ABS
210
100
100
100
0
The current position is written to the position data, and default values are adopted for the other data.
■ Point No. setting conditions
An appropriate period of delay time must be provided between the point No. input and the current position TEACH
command so that this TEACH command is kept ON securely until the BUSY signal switches ON. If the point No. is not
set properly due to an insufficient delay time, this may cause a malfunction.
This delay time is set to 5 ms or longer.
c
5-30
CAUTION
When the timer function of the host unit is used to specify the delay time, the design is made so that the actual
delay time is longer than the reference value shown above by carefully checking the timer response accuracy.
5. Remote commands
5.1
Over view
Remote commands use the field network's remote register area to read and write various types of information,
and perform the positioning operation.
■ ■ CC-Link
Inputs (Master
Address
Signal Name
RWwn
WIN0
RWwn+1
WIN1
RWwn+2
WIN2
RWwn+3
WIN3
Remote)
Output (Remote
Description
Address
Signal Name
RWrn
WOUT0
RWrn+1
WOUT1
RWrn+2
WOUT2
RWrn+3
WOUT3
Execution command
Command option
Master)
Description
Status
Command response
n: Value determined by CC-Link station No. setting.
■ ■ DeviceNet, EtherNet/IP
Inputs (Master
Signal Name
m+2
WIN0
m+3
WIN1
m+4
WIN2
m+5
WIN3
Output (Remote
Description
Channel No.
Signal Name
n+2
WOUT0
n+3
WOUT1
n+4
WOUT2
n+5
WOUT3
Execution command
Command option
Master)
Description
Status
Command response
"m", "n": These values are determined in accordance with the channel setting.
5.2
Remote command list
■ ■ Quer y
Command
Command Option
Command Response
Name
n
5
WIN0
WIN1
WIN2, WIN3
WOUT1
WOUT2, WOUT3
Current position read
0100h
0000h
-
-
Current position
Current speed read
0100h
0001h
-
-
Operation speed
Electrical current read
0100h
0002h
-
-
Electrical current
Voltage read
0100h
0009h
-
-
Voltage
Temperature read
0100h
000Ah
-
-
Temperature
Current point No. read
0100h
000Dh
-
-
Operation-in-progress point No.
Load rate read
0100h
000Eh
-
-
Load rate
NOTE
• 2-word data is registered as the command response (Little Endian).
• When "8100h" is set for the command (WIN0), the query becomes the continuous query.
5-31
Operation
Channel No.
Remote)
■ ■ Point data writing
Command
Command Option
Command Response
Name
5
n
WIN0
WIN1
Operation type write
0200h
Point No.
Position write
0201h
Speed write
WIN2, WIN3
WOUT1
WOUT2, WOUT3
Operation type
Point No.
-
Point No.
Position data
Point No.
-
0202h
Point No.
Speed data
Point No.
-
Acceleration write
0203h
Point No.
Acceleration data
Point No.
-
Deceleration write
0204h
Point No.
Deceleration data
Point No.
-
Push force write
0205h
Point No.
Push force data
Point No.
-
Zone (-) write
0206h
Point No.
Zone (-) data
Point No.
-
Zone (+) write
0207h
Point No.
Zone (+) data
Point No.
-
"Near width" write
0208h
Point No.
"Near width" data
Point No.
-
Jump write
0209h
Point No.
Jump data
Point No.
-
Flag write
020Ah
Point No.
Flag data
Point No.
-
Timer write
020Ch
Point No.
Timer data
Point No.
-
NOTE
• "Position", "speed", "acceleration", "deceleration", and "push force" writing occurs in the RAM. To save the data to memory, the "operation type" must be written after writing each of these data items.
• The permissible point No. setting range at the command option is "1 (0001h) to 255 (00FFh)". When a command
is executed, a point No. answerback is returned to the command response (WOUT1).
Operation
■ ■ Point data reading
Command
Command Option
Command Response
Name
n
5-32
WIN0
WIN1
WIN2, WIN3
WOUT1
WOUT2, WOUT3
Operation type read
0300h
Point No.
-
Point No.
Operation type
Position read
0301h
Point No.
-
Point No.
Position data
Speed read
0302h
Point No.
-
Point No.
Speed data
Acceleration read
0303h
Point No.
-
Point No.
Acceleration data
Deceleration read
0304h
Point No.
-
Point No.
Deceleration data
Push force read
0305h
Point No.
-
Point No.
Push force data
Zone (-) read
0306h
Point No.
-
Point No.
Zone (-) data
Zone (+) read
0307h
Point No.
-
Point No.
Zone (+) data
"Near width" read
0308h
Point No.
-
Point No.
"Near width" data
Jump read
0309h
Point No.
-
Point No.
Jump data
Flag read
030Ah
Point No.
-
Point No.
Flag data
Timer read
030Ch
Point No.
-
Point No.
Timer data
NOTE
• The permissible point No. setting range at the command option is "1 (0001h) to 255 (00FFh)".
• 2-word data is registered (Little Endian) at the command response (WOUT2, WOUT3).
■ ■ Parameter writing
Command
Command Option
Command Response
Name
WOUT1
WOUT2, WOUT3
In-position data
-
-
0004h
Push mode
-
-
0400h
0005h
Push judge time data
-
-
Push speed (K6) write
0400h
0006h
Push speed data
-
-
Zone (-) (K7) write
0400h
0007h
Zone (-) data
-
-
Zone (+) (K8) write
0400h
0008h
Zone (+) data
-
-
Speed override (K9) write
0400h
0009h
Speed override
-
-
JOG speed (K10) write
0400h
000Ah
JOG speed
-
-
Inching width (K11) write
0400h
000Bh
Inching width
-
-
MOVE output level (K12) write
0400h
000Ch
MOVE output level data
-
-
WIN0
WIN1
In-position (K3) write
0400h
0003h
Push mode (K4) write
0400h
Push judge time (K5) write
WIN2, WIN3
■ ■ Parameter reading
Command
Command Option
Command Response
Name
WIN1
WIN2, WIN3
WOUT1
WOUT2, WOUT3
In-position (K3) read
0500h
0003h
-
-
In-position data
Push mode (K4) read
0500h
0004h
-
-
Push mode
Push judge time (K5) read
0500h
0005h
-
-
Push judge time data
Push speed (K6) read
0500h
0006h
-
-
Push speed data
Zone (-) (K7) read
0500h
0007h
-
-
Zone (-) data
Zone (+) (K8) read
0500h
0008h
-
-
Zone (+) data
Speed override (K9) read
0500h
0009h
-
-
Speed override
JOG speed (K10) read
0500h
000Ah
-
-
JOG speed
Inching width (K11) read
0500h
000Bh
-
-
Inching width
MOVE output level (K12) read
0500h
000Ch
-
-
MOVE output level data
NOTE
2-word data is registered as the command response (WOUT2, WOUT3) (Little Endian).
■ ■ Positioning operation
Command
Command Option
Command Response
Name
WIN0
WIN1
WIN2, WIN3
WOUT1
WOUT2, WOUT3
Positioning operation (data designation 1)
08xxh
-
Position data
-
-
Positioning operation (data designation 2)
18xxh
Speed
Position data
-
-
■ ■ Special codes
Command
Command Option
Command Response
Name
WIN0
WIN1
WIN2, WIN3
WOUT1
WOUT2, WOUT3
Status clear (no execution)
0000h
-
-
-
-
Status clear (continuous query continuation)
8000h
-
-
-
-
Command response clear
0F00h
-
-
0000h
00000000h
5-33
5
Operation
n
WIN0
■ ■ Status
Status
Name
Description
WOUT0
n
5
Operation
5-34
Command ready
0000h
Command execution is enabled.
Command-in-progress
0100h
Command has been received and is being executed.
Command-end
0200h
Command ended normally.
Command error end
40xxh
Command ended in error alarm.
The error alarm No. is output as the "xx" value.
NOTE
• When a "command error end" (40xxh) condition occurs, the alarm No. is output as the "xx" value. For details regarding alarm numbers and alarm meanings, see section 4, "Alarms: Possible causes and actions ", in Chapter 6.
• Error alarm denotes "Error alarm (internal causes)" and "Error alarm (external causes)".
• For details regarding error alarms, see section 1, "Alarm groups", in Chapter 6.
5.3
Timing chart
This section explains the remote command input/output timing charts using remote command execution
flowcharts and examples.
■ ■ When executing a quer y
[Example] Executing "current position" reading
Command option
(WIN1)
0000h 0000h
0000h
Td
0000h
Td
Command (WIN0)
0000h
Status (WOUT0)
0000h
0000h
0100h
0200h
0000h
0100h
0000h
0100h
Command response
(WOUT2, WOUT3)
0000h
0200h
0000h
0100h
00000000h
00004E20h(=20000)
00002710h(=10000)
23534-M0-00
■ ■ When executing point data writing/reading
5
[Example] Executing position writing/reading
0000
0000
0000h 2710h
Command option
(WIN1)
0000h 0001h
00000000h
0000h
0001h
Td
0000h
Td
Command (WIN0)
0000h
Status (WOUT0)
0000h
0201h
0000h
0200h
0000h
0200h
0000h
0100h
0000h
Command response
(WOUT2, WOUT3)
0301h
0000h
0100h
Command response
(WOUT1)
Operation
Command option
(WIN2, WIN3)
0001h(=1)
0001h(=1)
00002710h(=10000)
00000000h
23535-M0-00
■ ■ When executing parameter data writing/reading
[Example] Executing speed override (K9) writing/reading
Command option
(WIN2, WIN3)
0000 0000
0000h 0064h
Command option
(WIN1)
0000h 0009h
0000h
Td
Command (WIN0)
0000h
Status (WOUT0)
0000h
Command response
(WOUT2, WOUT3)
00000000h
0009h
0000h
Td
0400h
0200h
0100h
0000h
0000h
0500h
0200h
0000h
0000h
0100h
00000000h
00000064h(=100)
23536-M0-00
■ Delay time (Td) setting
Because remote commands are processed across multiple channel (word) information, a prescribed time period is required
for each area's information to be refreshed. Therefore, after each command option setting, a delay time (Td) is required
before the command is set. For "Td" details, refer to the operation manuals for the network and host types being used.
5-35
5.4
Quer y
Reads information (current position and speed, etc.) related to the operation.
Command Option
Input
Command
WIN3
WIN2
WIN1
WIN0
-
-
Type
0100h
Command Response
Output
WOUT3
WOUT2
Data
n
Status
WOUT1
WOUT0
-
0200h
NOTE
The "Data" is output as 2-word, Little Endian data.
■ ■ Command type and response data
Command Option
Command Response
Type (WIN1)
Data (WOUT2, WOUT3)
Command (WIN0)
5
0100h
Operation
5-36
Units
Other than TS-P
TS-P 0000h
Current position
0001h
Current speed
0002h
Electrical current
0009h
Voltage
000Ah
Temperature
000Dh
Current point No.
-
000Eh
Load rate
%
: 0.01mm
: 0.001mm
0.01mm/s
%
0.1V
˚C
5.5
Point data writing
Point data is written.
Command Option
Input
WIN3
Command
WIN2
WIN1
Data
WIN0
Point No.
02xxh
Command Response
Output
WOUT3
Status
WOUT2
WOUT1
-
Point No. (response)
WOUT0
0200h
■ ■ Commands and data
Command Option
Units
Command (WIN0)
Point No. (WIN1)
0200h
Operation type
0201h
Position
0202h
Speed
0203h
n
Acceleration
0204h
1(0001h)
0205h
to
0206h
255(00FFh)
Custom Setting
-
Other than TS-P
TS-P Data Write
Destination
ROM
: 0.01mm
: 0.001mm
RAM
%
0.01mm/s
RAM
%
Other than TS-P : 0.01m/s 2
TS-P : 0.001m/s 2
RAM
Deceleration
%
RAM
Push force
%
RAM
Zone (-)
Other than TS-P
TS-P
: 0.01mm
: 0.001mm
ROM
0207h
Zone (+)
Other than TS-P
TS-P : 0.01mm
: 0.001mm
ROM
0208h
Near width
Other than TS-P
TS-P : 0.01mm
: 0.001mm
ROM
0209h
Jump
-
ROM
020Ah
Flag
-
ROM
020Ch
Timer
ms
ROM
CAUTION
Because an EEPROM is used as the ROM, the number of writing operations is limited. Users should therefore refrain
from writing unnecessary data to the ROM.
NOTE
Data which has been written to the RAM is not saved to memory, and the original data is restored when a restart
occurs. To save the RAM data to memory, the "operation type" must be written after writing each data item.
TIP
For point data details, see section 2, "Point data", in Chapter 3.
5-37
5
Operation
c
Data (WIN2, WIN3) Standard Setting
5.6
Point data reading
Point data is read.
Command Option
Input
WIN3
Command
WIN2
-
WIN1
WIN0
Point No.
03xxh
Command Response
Output
WOUT3
WOUT2
Data
n
Status
WOUT1
WOUT0
Point No. (response)
0200h
NOTE
The "Data" is output as 2-word, Little Endian data.
■ ■ Commands and data
Command Option
Command Response
Point No. (WIN1)
Data (WOUT2, WOUT3)
Unit
Command (WIN0)
0300h
5
Operation type
0301h
Position
0302h
Speed
Operation
0303h
Acceleration
0304h
1(0001h)
0305h
to
0306h
255(00FFh)
Custom Setting
-
Other than TS-P
TS-P %
%
: 0.01mm
: 0.001mm
0.01mm/s
Other than TS-P
TS-P Deceleration
%
Push force
%
Zone (-)
Other than TS-P
TS-P : 0.01mm
: 0.001mm
0307h
Zone (+)
Other than TS-P
TS-P : 0.01mm
: 0.001mm
0308h
Near width
Other than TS-P
TS-P : 0.01mm
: 0.001mm
0309h
Jump
-
030Ah
Flag
-
030Ch
Timer
TIP
For point data details, see section 2, "Point data", in Chapter 3.
5-38
Standard Setting
ms
: 0.01m/s 2
: 0.001m/s 2
5.7
Parameter data writing
Parameter data is written.
Command Option
Input
WIN3
Command
WIN2
Data
WIN1
WIN0
Parameter No.
0400h
Command Response
Output
WOUT3
WOUT2
Status
WOUT1
WOUT0
-
0200h
-
■ ■ Command type and data
Command Option
Command (WIN0)
Unit
Parameter No. (WIN1)
Data (WIN2, WIN3)
0003h
In-position (K3)
0004h
Push mode (K4)
0005h
Push judge time (K5)
0006h
Push speed (K6)
: 0.01mm
: 0.001mm
ms
0.01mm/s
: 0.01mm
: 0.001mm
Other than TS-P
: 0.01mm
TS-P : 0.001mm
ZONE (-) (K7)
0008h
ZONE (+) (K8)
0009h
Speed override (K9)
%
000Ah
JOG speed (K10)
%
000Bh
Inching width (K11)
000Ch
MOVE output level (K12)
Other than TS-P
TS-P : 0.01mm
: 0.001mm
0.01mm/s
CAUTION
The number of write processes is limited since the parameter dada is written into the EEPROM. So, avoid writing
parameter data unnecessarily. Additionally, the write target is a part of operation parameters related to the
positioning operation.
TIP
For parameter data details, see section 4, "Parameter data", in Chapter 3.
n
NOTE
0003h to 0008h, and 000Ch of the writable parameters are available from controller’s software version Ver.1.11.125.
5-39
5
Operation
Other than TS-P
TS-P 0007h
0400h
c
Other than TS-P
TS-P 5.8
Parameter data reading
Parameter data is read.
Command Option
Input
WIN3
Command
WIN2
-
WIN1
WIN0
Parameter No.
0500h
Command Response
Output
WOUT3
WOUT2
Status
WOUT1
WOUT0
-
0200h
Data
■ ■ Command type and response data
Command Option
Command Response
Parameter No. (WIN1)
Data (WOUT2, WOUT3)
Command (WIN0)
5
Unit
Other than TS-P
TS-P : 0.01mm
: 0.001mm
0003h
In-position (K3)
0004h
Push mode (K4)
0005h
Push judge time (K5)
0006h
Push speed (K6)
0007h
ZONE (-) (K7)
Other than TS-P
TS-P : 0.01mm
: 0.001mm
0008h
ZONE (+) (K8)
Other than TS-P
TS-P : 0.01mm
: 0.001mm
0009h
Speed override (K9)
%
000Ah
JOG speed (K10)
%
000Bh
Inching width (K11)
000Ch
MOVE output level (K12)
0500h
ms
0.01mm/s
Operation
Other than TS-P
TS-P : 0.01mm
: 0.001mm
0.01mm/s
TIP
For parameter data details, see section 4, "Parameter data", in Chapter 3.
n
5-40
NOTE
0003h to 0008h, and 000Ch of the readable parameters are available from controller’s software version Ver.1.11.125.
5.9
Continuous quer y
This function outputs operation information such as the current position and speed, etc., in a continuous
manner.
Command Option
Input
Command
WIN3
WIN2
WIN1
WIN0
-
-
Type
8100h
Command Response
Output
WOUT3
Status
WOUT2
WOUT1
WOUT0
-
0200h
Data
c
CAUTION
Output occurs as 2-word, Little Endian data.
When the gateway function is set enabled, the continuous query cannot be used.
■ ■ Command type and response data
Command (WIN0)
Type (WIN1)
Units
Other than TS-P
TS-P 0000h
Current position
0001h
Current speed
0002h
Electrical current
0009h
Voltage
000Ah
Temperature
000Dh
Current point No.
-
000Eh
Load rate
%
: 0.01mm
: 0.001mm
0.01mm/s
%
0.1V
˚C
■ ■ Timing chart
Timing chart
For a current position continuous query
Command option
(WIN1)
0000h 0000h
0000h
Td
Command (WIN0)
0000h
8100h
0000h
Status (WOUT0)
0000h
0200h
0000h
Command response
(WOUT2, WOUT3)
00000000h
Data updating
Stop
23540-M0-00
* Data updates occur every 5ms.
* Data updates continue until a 0x0000 (status clear) command is specified.
* Data updates output continuously until the status becomes the command ready status by executing the status clear (no
execution) (WIN0=0000h).
To put in the command ready status without stopping the data update, execute the status clear (continuous query
continuation) (WIN0=8000h).
n
5
Operation
8100h
Data (WOUT2, WOUT3)
NOTE
This function is available from CC-Link controller's software version Ver. 1.08.118 onwards and DeviceNet and
EtherNet/IP controller's software version Ver. 1.10.121 onwards.
5-41
5.10 Positioning operation
There are two kinds of positioning operations available, "data designation type 1" that performs the operation
by specifying the position data and "data designation type 2" that performs the operation by specifying the
position and speed data.
So, it is necessary to register the point data to the designation points beforehand.
n
NOTE
This function is available from controller’s software version Ver.1.11.125.
111 Data destination type 1
Command Option
Input
WIN3
Command
WIN2
WIN1
WIN0
-
(0800 + n) h
Position data
Command Response
Output
WOUT3
Status
WOUT2
WOUT1
WOUT0
-
(0200 + n) h
-
n: Point number
5
In the data designation type 1, the position data to be specified is newly registered using WIN2, 3 based on the
information registered at the designation point number "n" to perform the positioning operation.
222 Data destination type 2
Operation
Command Option
Input
WIN3
Command
WIN2
Position data
WIN1
WIN0
Speed data
(1800 + n) h
Command Response
Output
WOUT3
Status
WOUT2
WOUT1
WOUT0
-
(0200 + n) h
-
n: Point number
In the data designation type 2, the speed data to be specified and the position data to be specified are
registered using WIN1 and WIN2, 3, respectively based on the information registered at the designation point
number "n" to perform the positioning operation.
c
CAUTION
The data designation types 1 and 2 write the point data in the RAM area. Therefore, as the power is turned on
again, the position of the point data and the speed data value return to the values registered in the EEPROM.
■ ■ Data setting
The following shows the range of the data that can be input and the unit of the set value.
Name
Point number
Input range
1 to 255
Unit
-
Other than TS-P: -999999 to 999999
0.01mm
TS-P
0.001mm
Position data
: -9999999 to 9999999
Standard setting: 1 to 100
%
Speed data
Custom setting : 1 to 65535
5-42
mm/s
■ ■ Status
Status
Name
Description
WOUT0
Command ready
0000h
Shows the command executable status.
Positioning operation in-progress
(0100 + n) h
Receives the command to show that the positioning operation is in
progress.
The point number that is registered when entering the data is output
to "n".
Positioning operation normal end
(0200 + n) h
Shows that the operation ends normally.
Outputs the point number registered when entering the data to "n".
Positioning operation abnormal end
40xxh
Shows that the operation ends abnormally.
Outputs the error code to "xx".
■ ■ Timing chart (Normal end)
Use the data designation type 2 to specify "P1", "10000 (100.00mm)", and "50" are for the point number, position, and
speed, respectively.
Position data
(WIN2, WIN3)
0000
0000h
0000
2710h
00000000h
Speed data (WIN1)
0000h
0032h
0000h
5
Td
Command (WIN0)
Status (WOUT0)
0000h
1801h
0000h
0000h
0101h
0201h
0000h
Operation end (END)
23542-M0-00
■ ■ Timing chart (Abnormal end)
Use the data designation type 2 to specify "P1", "10000 (100.00mm)", and "50" are for the point number, position, and
speed, respectively.
Position data
(WIN2, WIN3)
0000
0000h
0000
2710h
00000000h
Speed data (WIN1)
0000h
0032h
0000h
Td
Command (WIN0)
Status (WOUT0)
0000h
1801h
0000h
0000h
0101h
4045h
0000h
Interlock
Operation in-progress
(BUSY)
Operation end (END)
23543-M0-00
An "error end" condition can be caused by the following conditions.
Type
Cause
Error detected prior to
operation
•START input occurred during an operation fault status (alarm, servo OFF, interlock,
return-to-origin incomplete, manual mode).
•START input occurred with data either not set, or with point data set for a position which
exceeds the soft limit.
Error detected during operation
•Alarm occurred during operation.
•Interlock stop processing occurred during operation.
•A push failure occurred during a push operation.
5-43
Operation
Operation in-progress
(BUSY)
5.11 Special codes
This section explains the special codes.
111 Status clear (no execution)
The status is changed to the command ready (command executable status).
Command Option
Input
WIN3
WIN2
-
Command
WIN1
WIN0
-
0000h
Command Response
Output
WOUT3
WOUT2
-
Status
WOUT1
WOUT0
-
0000h
222 Status clear (continuous quer y continuation)
The status is changed to the command ready while continuing the data output to WOUT2, 3 by executing the continuous
query.
Command Option
5
Input
WIN3
WIN2
-
Command
WIN1
WIN0
-
8000h
Command Response
Operation
Output
WOUT3
WOUT2
Data (continuous query response)
n
Status
WOUT1
WOUT0
-
0000h
NOTE
This function is available from controller’s software version Ver.1.11.125.
333 Command response clear
The command response is cleared to zero.
Command Option
Input
WIN3
WIN2
-
Command
WIN1
WIN0
-
0F00h
Command Response
Output
WOUT3
WOUT2
0000 0000h
5-44
Status
WOUT1
WOUT0
0000h
0200h
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.
To select the operation mode, use the TS-Manager or HT1.
• Normal mode (NRM)
This mode permits both I/O control and communication control from the PC or HT1.
• Monitor mode (MON)
This mode permits full I/O control, but communication control from the PC or HT1 is limited to "monitoring" only, and
data editing is not possible. Data can be transmitted from the controller to the PC in this mode.
• Debug mode (DBG)
Communication control from the PC or HT1 is possible in this mode, but I/O control inputs are prohibited.
■ ■ Operation mode functions
Each mode and its available functions are shown below.
I/O Control
Type
Input
Output
Communication Control
Data Change
PC, HT1
PC
Data Transmission
Controller Controller
PC
Monitor
PC, HT1
Operation
PC, HT1
5
NRM mode
NRM mode (safety)
MON mode
MON mode (safety)
: Permitted
: Prohibited
When in a mode "safety" status, the robot operation is limited to the low speed.
c
CAUTION
• Normal mode allows operation by I/O control and communication control. However, if an operation is attempted by one control method while operated by the other method, unexpected operation may occur or communication may fail. Use only one of these control methods in Normal mode.
• In Monitor mode, the [STOP] button on the PC software and the STOP key on the HT1 are disabled. To stop the robot during operation by a method other than I/O control, press the emergency stop button.
• In Debug mode, I/O control input is disabled, so the robot does not stop by interlock input. To stop the robot during operation, use the [STOP] button on the PC software or the STOP key on the HT1, or press the emergency stop button.
w
WARNING
The robot normally moves at a high speed. when performing tasks within the robot movement range
or when performing trial operations, etc., it is recommended to operate the robot at a low speed.
This low speed is factory-set to 250mm/s prior to shipment.
However, note that this function is not a safety related function defined in ISO13849-1.
5-45
Operation
DBG mode
DBG mode (safety)
7. Other functions
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.
Soft limit function
Mechanical end
Mechanical end
Movement range imposed by soft limit
Position
Soft limit (+) (K2)
Soft limit (-) (K1)
1.
5
OK
2.
3.
NG
OK
23537-M0-00
Operation
1:Movement from a stop position within the soft limit to a target position within the soft limit
OK (permitted).
2:Movement from a stop position within the soft limit to a target position outside the soft limit
NG (prohibited).
3:Movement from a stop position outside the soft limit to a target position within the soft limit
OK (permitted).
w
WARNING
Soft limit function is not a safety-related function intended to protect the human body.
To restrict the robot movement range to protect the human body, use the mechanical stoppers installed in the
robot (or available as options).
7.2
Zone output function
This function outputs information which indicates whether or not the robot's current position is within a
specified zone, and it can be used to check the robot's position from a host unit, or to recognize zones where
movement is permitted or prohibited, etc. The zone boundaries can be set by the K7 (Zone -) and K8 (Zone +)
RUN parameters.
Zone output function
Zone output (ZONE)
Zone (-)
(K7)
Zone (+)
(K8)
Position
23538-M0-00
n
5-46
NOTE
The zone output function is disabled if a return-to-origin has not yet been completed.
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. output function) I/O parameter setting.
n
NOTE
• Error alarm denotes "Error alarm (internal causes)" and "Error alarm (external causes)".
• For details regarding error alarms, see section 1, "Alarm groups", in Chapter 6.
■ ■ Output examples
Point No. Output
Alarm Type
No.
POUT7
POUT6
POUT5
POUT4
POUT3
POUT2
POUT1
POUT0
Position detection error
82
1
0
0
0
0
0
1
0
Overload error
86
1
0
0
0
0
1
1
0
Main power outage
C2
1
1
0
0
0
0
1
0
1 : ON
7.4
0 : OFF
Changing the payload
The TS series automatically sets the acceleration and optimizes positioning operations based on the payload
which has been defined. However, in conveyance systems, the payload can vary greatly depending on whether
or not the conveyance objects are loaded or not. In such cases, selection is possible from 2 payload types for
each operation. The payload selection is made at each point data's "Flag" setting.
Setting
Operation
Item
Description
Flag bit0 = 0
Payload 1 (K76) applies
Flag bit0 = 1
Payload 2 (K78) applies
Payload select
■ ■ Setting examples
No.
RUN type
Position [mm] Speed [%]
P1
ABS
200.00
P2
ABS
500.00
5
Accel. [%]
Decel. [%]
Flag
100
100
100
1
Payload 1: 30kg
(Max. payload accel. 1: 1.60m/s 2)
100
100
100
0
Payload 2: 3kg
(Max. payload accel. 2: 4.00m/s 2)
Setting examples
Speed
Operation 1 (movement to P1)
Operation 2 (movement to P2)
Operation with 3kg payload
Operation with 30kg payload
23539-M0-00
TIP
In the "Custom setting" mode, if the acceleration of point data exceeds the acceleration upper limit determined
by the payload, then the actual acceleration is restricted to the acceleration upper limit.
5-47
7.5
Stop mode TS-S
TS-S2
TS-SH
This switches the control during stop state after positioning operations. Use "Flag" for each point to switch the
stop mode.
Item
Setting value
Description
Flag bit1=0
Closed mode
Flag bit1=1
Open mode
Stop mode select
■ ■ Closed mode
This controller delivers high stop performance equivalent to servomotors by the vector control. This ensures "no step-out"
and reduces the holding torque required during stop.
■ ■ Open mode
This mode enables the holding torque during stop. In closed mode, the motor operates like a servo motor and tends to
cause a hunting to occur during stop. In open mode, a hunting caused by external disturbing effects can be avoided since
the holding torque is enabled. The holding torque amount and the time to enable the holding torque can be set by the
parameters.
n
5
c
NOTE
The stop mode after the "Point trace" operations will be determined by the "Flag" setting for each point data.
The stop mode after the operations such as "Jog" and "Return-to-origin" operations (other than "Point trace"
operations) will be determined by the parameter "Stop mode" (K123).
Operation
CAUTION
• In the open mode, correction of the stop position will not be made if the position has been shifted by an external force, etc. because the feedback control is not done in this mode.
• When the stop mode is switched from closed to open mode, the stop position may change to a certain degree due to the effect of the step angle.
7.6
Magnetic pole position estimation TS-P
The magnetic pole position is estimated at first "servo ON" after the control power is turned on. This operation
is described below.
■ ■ Timing chart
Timing chart
Magnetic pole position estimation
Servo ON (SERVO)
Servo status (SRV-S)
Operation-in-progress
(BUSY)
Status
Servo OFF
Magnetic pole position estimation
Servo hold
23507-M2-00
BUSY switches ON during magnetic pole position estimation and switches OFF when complete, indicating that the robot
is ready to start operation.
■ ■ Operation
The magnetic pole position is estimated while moving the robot a small distance at the timing of the first "servo ON".
During this operation, the robot moves a few millimeters to a dozen millimeters, depending on the robot model.
c
5-48
CAUTION
Do not perform magnetic pole position estimation while an external force is applied to the robot or the robot is at
a position near the mechanical end. Doing so may fail to estimate the magnetic pole position and cause an
alarm.
8. LED status indicators
Operation statuses are indicated by 2 types of LEDs located on the front face of the controller.
The following table shows the LED statuses and their meanings.
LED Name
Color
Status
OFF
PWR
Blue
Red
Control power shutoff
Blinking (at 0.5sec intervals)
Servo OFF
ON (constant ON)
Servo ON
OFF
ERR
Meaning
Control power shutoff or no active error alarms (normal)
Blinking (at 0.5sec intervals)
Error alarm active (external cause)
ON (constant ON)
Error alarm active (internal cause)
5
Operation
5-49
9. TS-Monitor (Option) TS-X
TS-P
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 screen
Displays the controller, robot model name, or point type you are using.
MAIN screen
Displays the internal status of the servo and other devices, run mode, or current position. Additionally,
if an alarm occurs, this screen also displays the alarm number and alarm name.
I/O screen
Displays the status of the input/output signal exchanged with the host controller.
STATUS screen
Displays the internal status of the servo, emergency stop, or origin sensor.
RUN screen
Displays the operation information, such as current position or speed.
CHECK screen
Displays the internal voltage or internal temperature of the controller.
9.1
Part names and functions
Part names (TS-Monitor)
5
TS-X
TS-P
LCD panel
Displays various statuses, current
position, and alarm information.
Operation
button,
button
Changes the screen or performs
various operations on the SETUP
screen.
23504-M1-00
w
WARNING
• Do not push or strike the LCD panel with a sharp or hard object. Doing so might cause the LCD panel to break.
• The liquid (liquid crystal) contained in the LCD panel is a hazardous substance. If this fluid leaks from the LCD panel due to damage and adheres to your skin or clothing, wash it off immediately with soap and water. After that, consult a physician.
9.2
Opening or closing the TS-Monitor
You can open or close the TS-Monitor regardless of the controller power on/off status.
When replacing the absolute battery, it is necessary to open or close the TS-Monitor in the vertical direction. TS-X
w
c
5-50
WARNING
• When opening or closing the TS-Monitor with the controller power turned on, make sure that the controller is not hot. If you touch a hot part, this might result in a burn injury.
• When opening or closing the TS-Monitor with the controller power turned on, do not touch any connector. Doing so might cause an electric shock.
CAUTION
• Do not attempt to process the communication connector 2 (COM2) and the connector on the rear of the TS-Monitor. Doing so might cause a communication error or a malfunction.
• When opening or closing the TS-Monitor, hold the controller main body and TS-Monitor securely.
• When opening the TS-Monitor, pay special attention so that your hand is not caught in the cover.
• When closing the TS-Monitor, pay special attention so that the cable of the absolute battery is not caught in the
cover.
9.3
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
screen
button
(or transits after a
certain period of
time has elapsed.)
button
button
Transits to
the MAIN
screen.
MAIN screen
button
CHECK screen
button
Alarm occurs.
RUN screen
button
button
button
I/O screen
button
5
button
STATUS screen
23505-M1-00
The TS-Monitor always monitors the alarm (error alarm or warning alarm). If the TS-Monitor detects an alarm,
the screen will change to the MAIN screen. At this time, if any alarm has already occurred, the screen does not
change to the MAIN screen.
Additionally, if an error alarm occurs, the screen color will change. For details, see section 9.5, "Screen color
in case of alarm".
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 9.6, "SETUP screen".
When the SETUP screen is displayed, press the ▼ button while holding down the ▲ button. The screen will
then return to the normal startup screen.
Changing the SETUP screen
Power on
button
Startup screen
button
Press the and
at the same time
buttons
Subsequently, transits to
normal screen operation.
SETUP screen
Press the and
at the same time
buttons
LCD SETUP
button
button
Press the and
at the same time
buttons
COM SETUP
23506-M1-00
5-51
Operation
button
9.4
Screen configuration and meaning
■ ■ Startup screen
When starting up the TS-Monitor, the following screen will appear.
Startup screen
TS-MONITOR
VER. 1.00
Software version
Booting up...
24501-M1-00
■ ■ INFORMATION screen
"INFORMATION" is displayed in the page name area at the uppermost portion on the INFORMATION screen.
INFORMATION screen
5
Operation
INFORMATION
CONT :TSVER :1.03.105
ROBOT: 12-34
P.TYP:CUSTOM
Controller name
Controller software version
Robot name
Point type
* The display is an example.
24502-M1-00
Point type
Display
Meaning
NORMAL
Normal setting
CUSTOM
Custom setting
■ ■ MAIN screen
"MAIN" is displayed in the page name area at the uppermost portion on the MAIN screen.
MAIN screen
(in normal operation)
MAIN-TS-MONITOR
DBG S
POS:
S
O
E
L
P
A
0.000 mm
Desired character string specified
by the user.
This character string is set with
the TS-Manager.
(Up to 10 characters)
Simple status display
: ON, : OFF
Run mode
Current position
24503-M1-00
MAIN screen
(in case of alarm)
MAIN-TS-MONITOR
S
O
E
L
P
A
ENCODER ERROR
DBG S
POS:
Error or warning alarm number
If no alarm occurs, "00" is
displayed.
Alarm name
0.000 mm
24504-M1-00
5-52
Simple status display
Display
Meaning
Description
S
Servo status
Displays the servo status.
ON: Servo on status, OFF: Servo off status
E
Emergency stop
Displays the emergency stop status.
ON: Emergency stop status
P
Main power failure
O
Return-to-origin
completion status
Displays the return-to-origin completion status.
ON: Return-to-origin complete status, OFF: Return-to-origin incomplete status
L
Interlock status
Displays the interlock status.
ON: Interlock status
A
Alarm
Displays the alarm occurrence status.
ON: No alarm occurs. OFF: Alarm is occurring.
Displays the main power voltage drop.
ON: Main power voltage drop
Run mode
Display
Meaning
NRM
Normal mode
MON
Monitor mode
DBG
Debug mode
NRM S
Normal mode (safety)
MON S
Monitor mode (safety)
DBG S
Debug mode (safety)
5
Operation
■ ■ I/O screen
"I/O" is displayed in the page name area at the uppermost portion on the I/O screen.
I/O screen
I/O
IN
OUT
ON OFF
F
E
D
C
B
A 9
8
7
6
5
4
3
2 1
O
F
E
D
C
B
A 9
8
7
6
5
4
3
2 1
O
Input signal status
Displays the status of input
bit 0 to 15.
: ON, : OFF
Output signal status
Displays the status of output
bit 0 to 15.
: ON, : OFF
24505-M1-00
Bit signal correspondence table
F
E
D
C
B
A
9
8
SERVO
RESET
START
/LOCK
ORG
MANUAL
JOG-
JOG+
7
6
5
4
3
2
1
0
PIN7
PIN6
PIN5
PIN4
PIN3
PIN2
PIN1
PIN0
F
E
D
C
B
A
9
8
SRV-S
/ALM
END
BUSY
OUT3
OUT2
OUT1
OUT0
7
6
5
4
3
2
1
0
POUT7
POUT6
POUT5
POUT4
POUT3
POUT2
POUT1
POUT0
IN
OUT
5-53
■ ■ STATUS screen
"STATUS" is displayed in the page name area at the uppermost portion on the STATUS screen.
STATUS screen
STATUS
SRV-S
ORGSEN
TLM-S
MOVE
ON OFF
E-STOP
P-BLK
ORG-S
WARN
Status display
: ON, : OFF
24506-M1-00
Status display
Display
5
Meaning
Description
Operation
SRV-S
Servo status
Displays the servo status.
ON: Servo on status, OFF: Servo off status
ORGSEN
Origin sensor
Displays the input status of the origin sensor.
ON: Origin sensor on, OFF: Origin sensor off
TLM-S
Push status
MOVE
Move status
Displays the move status.
ON: Moving
E-STOP
Emergency stop
Displays the emergency stop status.
ON: Emergency stop status
P-BLK
Main power failure
Displays the main power voltage drop.
ON: Main power voltage drop
ORG-S
Return-to-origin
completion status
Displays the return-to-origin completion status.
ON: Return-to-origin complete status,
OFF: Return-to-origin incomplete status
WARN
Warning output
Displays the warning alarm occurrence status.
ON: Warning is occurring., OFF: No warning occurs.
Displays the push status.
ON: Pushing
■ ■ RUN screen
"RUN" is displayed in the page name area at the uppermost portion on the RUN screen.
RUN screen
Run type
RUN
POS
SPD
LOAD
500.000 mm
ABS MERGE
▶P123
600.00 mm/s
69 %
Robot current position
Run point
Robot operation speed
Displays the graph of the
current speed assuming that
the maximum speed is 100%
Load rate
Displays the numeric value
and graph of the load rate.
24507-M1-00
5-54
Run type
Display
Meaning
HOLD
Servo is off or robot is stopping.
ABS
ABS
INC
INC
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
ORG
Return-to-origin
■ ■ CHECK screen
"CHECK" is displayed in the page name area at the uppermost portion on the CHECK screen.
CHECK screen
270.0 V
36 ℃
4:01:23
15.827 km
Internal voltage of controller
Temperature inside controller
Total startup time of controller
(Day : Hour : Minute)
Total movement distance of robot
24508-M1-00
■ ■ SETUP screen
"SETUP" is displayed in the page name area at the uppermost portion on the SETUP screen.
SETUP screen
SETUP
LCD SETUP
COM SETUP
24509-M1-00
5-55
Operation
CHECK
VOLT:
TEMP:
TIME:
DIST:
5
9.5
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.
Lit in blue. *
Servo is on and no error alarm occurs.
Blinks alternately in red and blue (at intervals of 0.5 sec.).
Error alarm is occurring. (External factor)
Lit in red.
Error alarm is occurring. (Internal factor)
* Goes off when the backlight turns off or after a specified period of time has elapsed.
5
Operation
5-56
9.6
SETUP screen
You can set the LCD contrast and backlight on time on the SETUP screen.
To set these items, follow the steps below.
1 Start up the SETUP screen.
Step 2
Turn on the power while holding down the ▼
button.
"LCD SETUP" screen
SETUP
LCD SETUP
2 Display the set contents of the LCD.
When the SETUP screen is displayed, press
the ▲ button to move the cursor to "LCD
SETUP", and then press the ▼ button.
The LCD SETUP screen will appear and
displays the set contents of the LCD.
COM SETUP
24510-M1-00
c
LCD SETUP
CAUTION
Do not change the set contents of the "COM
SETUP" (communication setup). Doing so might
cause the TS-Monitor to display incorrectly.
CONTRAST :
3
BACK LIGHT:ON
3 Make the selected item changeable.
24511-M1-00
Step 3
Selected item becomes changeable.
LCD SETUP
CONTRAST :
3
BACK LIGHT:ON
4 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.
ON : Always on.
OFF: Always off.
5 : Goes off after 5 sec.
10 : Goes off after 10 sec.
30 : Goes off after 30 sec.
n
5
Operation
Press the ▲ button to move the cursor to a
desired item you want to change, and then
press the ▼ button.
After that, you can change the item you
have selected.
LCD SETUP
CONTRAST :
3
BACK LIGHT:ON
NOTE
The backlight on time setting to be set in this step
is used when the screen is lit in blue (servo is on
and no error alarm occurs).
In other status, the backlight is lit or blinks
regardless of the backlight setting time.
5 Return to the SETUP screen.
Press the ▼ button while holding down the ▲
button.
To return to the normal startup screen from
the SETUP screen, press the ▼ button while
holding down the ▲ button when the SETUP
screen is displayed.
5-57
Chapter 6 Troubleshooting
Contents
1. Alarm groups
6-1
2. Alarm recording function
6-2
3. Alarm list
6-3
4. Alarms: Possible causes and actions 6-4
1. Alarm groups
Alarms on this controller are one of the following 5 groups.
Group
Description
Message alarm
Error messages involving data editing or operation commands sent as data.
Operation alarm
Alarm that appears when operation ends due to an error.
Error alarm (internal cause)
Alarm that occurs due to internal causes. To resume operation after eliminating the cause of the
problem, you must reset the alarm or turn the power off and back on again. An alarm description
is stored in the alarm history.
Error alarm (external cause)
Alarm that occurs due to external causes. Alarm occurs when safety circuit is triggered.
Operation can resume after eliminating the cause.
Warning alarm
Alarm that is displayed as a warning. (This does not directly affect operation.)
6
Troubleshooting
6-1
2. Alarm recording function
This function records and stores the error alarms (internal cause) as they occur, along with their alarm
number and alarm conditions at that time. Up to 50 alarms can be stored.
* This function does not store the "81: AC POWER DOWN" error alarm.
■ ■ Alarm description
Item
6
Troubleshooting
6-2
Description
Units
Cause
If 2 or more error alarms occur, the cause of the alarm with the smaller alarm No.
is stored.
-
Time
Total time counted while control power was on.
Position
Current position information when an alarm occurred
Speed
Speed at which robot was moving when alarm occurred.
Day : hour : minute
mm
mm/s
Run status
"Run type" that was selected when alarm occurred.
-
Run point
Point number that was selected for operation when alarm occurred. When not in
operation a 0 (zero) is entered.
-
Current
Command current when alarm occurred
%
Voltage
Motor power voltage when alarm occurred
V
Input
Input information when alarm occurred
-
Output
Output information when alarm occurred
-
3. Alarm list
The following table shows alarm numbers, messages, and reset methods.
Alarm No.
Alarm Message
Reset
*1
Origin Position
02
DATA ERROR
-
-
03
DATA RANGE OVER
-
-
04
MONITOR MODE
-
-
05
RUNNING
-
-
06
MANUAL MODE
-
-
41
SERVO OFF
-
-
42
ORIGIN INCOMPLETE
-
-
43
NO POINT DATA
-
-
44
SOFTLIMIT OVER
-
-
45
INTERLOCK
-
-
46
STOP KEY
-
-
47
PUSH MISTAKE
-
-
48
ORG. MISTAKE
-
-
49
SERIAL COMM. ERR.
-
-
4B
LIMITLESS ERROR
-
TS-S, TS-S2, TS-P: ×
TS-X, TS-SH :-
AC POWER DOWN
Restart
82
ENCODER ERROR
Restart
×
83
ABS. ENCODER ERR. TS-X TS-SH
Reset
×
84
IPM ERROR TS-X TS-P
Reset
-
85
OVERHEAT
Reset
-
86
OVERLOAD
Reset
-
87
OVERVOLTAGE
Reset
-
88
LOW VOLTAGE
Reset
-
89
POSITION ERROR
Reset
8A
ABS. BATTERY ERR. TS-X TS-SH
Reset
×
8B
ABS. COUNT ERROR TS-X TS-SH
Reset
×
8C
ABS. ME. ERROR TS-X TS-SH
Reset
×
8D
ABS.OVERFLOW ERR. TS-X TS-SH
Reset
×
8E
OVERCURRENT
Reset
-
8F
MOTOR CURRENT ERR.
Reset
-
90
POLE SEARCH ERROR TS-P
Reset
-
91
INT. COMM. ERROR
Reset
-
92
CPU ERROR
Reset
-
I/O FAULT
94
MOTOR CABLE ERROR TS-S2 TS-SH
97
ENC. POWER DOWN TS-SH
C1
Reset
*3
6
Troubleshooting
81
93
*2
-
Reset
-
Restart
×
EMERGENCY STOP
Eliminate cause
-
C2
MOTOR POWER DOWN
Eliminate cause
-
F1
ABS. BATTERY LOW TS-X TS-SH
-
-
F2
PUSH WARNING
-
-
F4
I/O ERROR
-
-
*1.Indicates the alarm reset method.
*2.Indicates whether or not origin position is retained when alarm occurred. (× : Not retained)
*3.Power must be turned off and then back on when using CC-Link or DeviceNet.
6-3
4. Alarms: Possible causes and actions
■ ■ Message alarms
No.
Message
Meaning
Possible Cause
Action
02
DATA ERROR
Data setting error
Attempt was made to enter data that
exceeded the specified range.
Enter data within the
specified range.
03
DATA RANGE OVER
Data setting range
exceeded.
Written data exceeded the specified
range.
Write data within the
specified range.
04
MONITOR MODE
Operation or edit
command was executed
in Monitor mode.
Operation or data edit was executed
while "Run" mode was in Monitor
mode.
Change the "Run" mode
to Normal mode or
Debug mode.
05
RUNNING
Operation command was
executed during
operation.
Another operation was attempted
during operation.
Stop the operation and
then re-execute the
command.
06
MANUAL MODE
Operation command was
executed during Manual
mode.
Positioning was attempted during
Manual mode.
Exit the Manual mode
and re-execute the
command.
■ ■ Operation alarms
No.
41
Message
SERVO OFF
Meaning
Servo is off.
Possible Cause
Operation was attempted while the
servo was off.
Action
Turn the servo on.
Servo turned off during operation.
6
42
ORIGIN
INCOMPLETE
Origin search (return-toorigin) is incomplete.
Positioning operation was attempted
while origin search was incomplete
Origin search direction (K14) or Axis
polarity (K15) was changed.
Perform an origin search.
Parameter was transferred from PC.
Troubleshooting
43
NO POINT DATA
Point data is not
registered.
Positioning operation was attempted
by specifying unregistered point data.
Register the point data.
Positioning operation
must be performed using
registered point data.
44
SOFTLIMIT OVER
Software limit was
exceeded.
Positioning operation attempted to
move to a point exceeding the soft
limits.
Adjust the target position
so that it is within the
soft limits.
Operation was attempted while /
LOCK was off.
Release the interlock
and then start operation.
45
INTERLOCK
Interlock was activated.
46
STOP KEY
Operation stop was
input.
Stop command was input during
operation using PC or HT1.
Resume operation.
47
PUSH MISTAKE
Failed to push
Push operation was judged a "failed
to push" error.
Correct the problem to
cancel the "failed to
push" error.
/LOCK was turned off during
operation.
5 minutes or more elapsed after
return-to-origin occurred.
48
ORG. MISTAKE
Failed to detect origin at
return-to-origin
Origin sensor avoidance width
(250mm) was exceeded with the
origin sensor remaining ON (when
using sensor format).
Correct the environment
related to the return-toorigin operation.
Z-phase detection failed at the
semi-absolute origin search. TS-P
49
4B
6-4
SERIAL COMM. ERR.
LIMITLESS ERROR
Serial communication
error occurred between
controller and
communication device.
Faulty data setting
during limitless setting
Communication cable is defective.
Replace the
communication cable.
Communication device failed.
Replace the
communication device.
Positioning operation was executed
with position data beyond the
operation target registered to the
position data during limitless setting.
Register the correct
position data.
Positioning operation was executed
with "ABS Merge", "INC Merge",
"ABS → Push" or "INC → Push"
specified for the operation type
during limitless setting.
Register the correct
operation type.
■ ■ Error alarms (internal causes)
No.
Message
Meaning
Possible Cause
Action
Power supply voltage too low.
81
AC POWER DOWN
Drop in control power
supply voltage.
Momentary power outage (below 50%
of specified input voltage) occurred
for more than 40ms. TS-X TS-P
Check the power supply.
Power supply does not have
sufficient capacity.
82
83
84
86
87
88
89
ABS. ENCODER ERR.
TS-X TS-SH
IPM ERROR
TS-X TS-P
OVERHEAT
OVERLOAD
OVERVOLTAGE
LOW VOLTAGE
POSITION ERROR
Connect the robot I/O
cable correctly.
Robot I/O cable broke or failed.
Replace the robot I/O
cable.
Wrong combination of controller and
robot.
Connect the correct
controller to a matching
robot.
Position detector failed.
Replace the motor.
Position detection circuit failed.
Replace the controller.
Robot I/O cable is not securely
connected (when control power
supply is off).
Connect the robot I/O
cable correctly.
Robot I/O cable broke or failed (when
control power supply is off).
Replace the robot I/O
cable.
Absolute battery is disconnected.
Connect the absolute
battery correctly.
Absolute battery has worn out or
failed.
Replace the absolute
battery.
Phases U, V and W in the motor
cable are shorted.
Replace the motor cable.
Motor failed.
Replace the motor.
Motor drive circuit failed.
Replace the controller.
Ambient temperature is above 40˚C.
Check the ambient
condition.
Thermal sensor failed.
Replace the controller.
Rated current was exceeded.
Reduce the load.
Set the payload correctly.
Lower the duty cycle.
Robot drive system collided with
some objects.
Check the operation
pattern.
Electromagnetic brake is not working.
TS-S TS-S2 TS-X TS-SH
Supply the brake power
correctly. TS-X
Replace the brake.
Wrong robot setting
Make correct robot setting.
Overload detection level
(45V for TS-S TS-S2
TS-SH or 420V for
TS-X TS-P ) was
exceeded.
Main power supply voltage exceeded
the specified range.
Check the power supply.
Regenerative unit is not securely
connected. TS-X TS-P
Connect the regenerative
unit correctly. TS-X TS-P
Regenerative unit connection cable
broke or failed. TS-X TS-P
Replace the connection
cable. TS-X TS-P
Power supply voltage
dropped below the low
voltage detection level
Main power supply voltage does not
reach the specified value.
Check the power supply.
(15V for TS-S TS-S2
TS-SH or 180V for
TS-X TS-P ).
Controller failed.
Replace the controller.
Robot drive unit collided with some
objects.
Check the operation
pattern.
Motor cable is not securely
connected.
Connect the motor cable
correctly.
Motor cable broke or failed.
Replace the motor cable.
Wrong robot setting
Make correct robot
setting.
Return-to-origin speed (K13) setting
is too high.
Reduce the setting.
Robot I/O cable is
disconnected or broke
(when control power
supply is off).
Excessive current flow
was detected.
Temperature protection
level (90˚C) was
exceeded.
Overload detection level
was exceeded.
Position deviation
overflow level was
exceeded.
6-5
6
Troubleshooting
85
ENCODER ERROR
Error occurred during
data exchange with
position detector.
Robot I/O cable is not securely
connected.
No.
Message
Meaning
8A
ABS. BATTERY ERR.
TS-X TS-SH
Absolute battery voltage
dropped below the low
error detection level
(2.5V).
ABS. COUNT ERROR
TS-X TS-SH
Robot moved at
acceleration higher than
the specified value
during absolute battery
operation.
8B
8C
ABS. ME. ERROR
TS-X TS-SH
Mismatch of absolute
multi-turn data and
position data
8D
ABS.OVERFLOW ERR.
TS-X TS-SH
Absolute multi-turn data
exceeded the specified
value.
8E
8F
6
MOTOR CURRENT
ERR.
Motor current does not
follow up on command.
Action
Absolute battery is disconnected.
Connect the absolute
battery correctly.
Absolute battery has worn out or
failed.
Replace the absolute
battery.
Large external force was applied to
the robot drive unit while the control
power supply was shut off.
Recheck the surrounding
environment where the
robot is used.
Position detection circuit failed.
Replace the controller.
Position detection circuit failed.
Replace the controller.
Robot moved to a position outside of
specified value.
Check the operating
conditions and
environment.
Position detection circuit failed.
Replace the controller.
Robot drive unit collided with some
objects.
Check the operation
pattern.
Motor cable is shorted.
Replace the motor cable.
Motor failed.
Replace the motor.
Motor cable is disconnected.
Connect the motor cable
correctly.
Motor cable broke or failed.
Replace the motor cable.
Motor failed.
Replace the motor.
Wrong robot setting
Make correct robot
setting.
Troubleshooting
90
POLE SEARCH ERROR
TS-P
Failed to estimate the
magnetic pole position.
Magnetic pole position was estimated
while external force was applied.
Recheck the surrounding
environment where the
robot is used.
91
INT. COMM. ERROR
Communication error
occurred between CPU
and I/O module.
CPU peripheral circuits failed.
Cancel the alarm.
If the alarm occurs again,
replace the controller.
92
CPU ERROR
CPU stopped due to
error.
CPU failed.
Cancel the alarm.
If the alarm occurs again,
replace the controller.
I/O power supply is not input or
exceeds a range of DC24V ± 10%.
Input a voltage of DC24V
± 10% to the I/O power
supply.
I/O power supply is turned off by the
NPN/PNP.
Turn the I/O power
supply back on.
I/O module failed.
Cancel the alarm (For
the NPN/PNP, turn off
the I/O power supply,
and then turn it on again
before cancelling the
alarm.).
If the alarm occurs again,
replace the controller.
Motor cable is not securely
connected.
Connect the motor cable
correctly.
Motor cable broke or failed.
Replace the motor cable.
Motor failed.
Replace the motor.
Controller failed.
Replace the controller.
Controller failed.
Replace the controller.
HT1 failed.
Replace the HT1.
93
94
97
6-6
OVERCURRENT
Current higher than the
allowable current flow
was detected.
Possible Cause
I/O FAULT
MOTOR LINE
DISCONNECTION
TS-S2 TS-SH
ENC. POWER DOWN
TS-SH
I/O module stopped due
to error.
Motor line disconnection
was detected during
servo ON.
Excitation power voltage
(12V) for position
detection dropped.
■ ■ Error alarms (external causes)
No.
Message
Meaning
C1
EMERGENCY STOP
Emergency stop was
activated.
C2
MOTOR POWER
DOWN
Drop in main power
supply voltage.
Possible Cause
Action
External safety circuit functioned and
emergency stop was activated.
Ensure safety and then
cancel the safety circuit.
Emergency stop wiring is incomplete.
Wiring is wrong.
Configure the safety
circuit correctly.
External safety circuit functioned and
Ensure safety and then
main power supply turned off.
cancel the safety circuit.
Main power was not supplied.
Supply the main power
correctly.
■ ■ Warning alarms
No.
Message
Meaning
F1
ABS. BATTERY LOW
TS-X TS-SH
Absolute battery voltage
dropped below the
warning level (3.1V).
Absolute battery has worn out or
failed.
Replace the absolute
battery.
F2
PUSH WARNING
Failed to push a
workpiece.
Push operation was judged as a
"failed to push" error.
Correct the problem to
cancel the "failed to
push" error.
I/O ERROR
I/O module is not
operating correctly.
24V was not correctly supplied to
NPN or PNP circuits.
Supply 24 V power
correctly.
I/O module was not operating
correctly.
Replace the controller.
F4
Possible Cause
Action
6
Troubleshooting
6-7
Chapter 7 Specifications
Contents
1. Controller basic specifications
1.1
1.1.1
1.1.2
7-1
Basic specifications
7-1
TS-S TS-S2 TS-SH TS-X TS-P 7-1
7-2
1.2
List of controlled robots
7-3
1.3
Dimensional outlines
7-5
2. I/O inter face specifications
7-7
2.1
NPN
7-7
2.2
PNP
7-7
2.3
CC-Link
7-7
2.4
DeviceNet
7-8
2.5
EtherNet/IP
7-9
3. TS-Monitor specifications TS-X
3.1
Basic specifications
3.2
Dimensional outlines (with TS-Monitor TS-X
TS-P 7-10
7-10
TS-P )
4. Regenerative unit specifications
7-10
7-12
4.1
Dimensional outlines (RGT)
7-12
4.2
Dimensional outlines (RGU-2)
7-12
1. Controller basic specifications
1.1
Basic specifications
1.1.1
TS-S
TS-S2
TS-SH
TS-S TS-S2
Item
Controllable robot
*1
TS-SH
TRANSERVO series
Current consumption
Dimensions
Weight
2.5A (Max. 4.5A)
3.5A (Max. 6.5A)
W30×H162×D82mm
W30×H162×D123mm
Approx. 0.2kg
Approx. 0.3kg
Control power supply
24V DC ±10%
Main power supply
24V DC ±10%
Control method
Closed loop vector control method
Position detection
method
Resolver (resolution: 20480 P/r) *3
Multi-turn resolver with absolute position function
(resolution: 20480 P/r) *3
Operation mode
Positioning operation by specifying point number, Direct positioning command
Types of operation
Positioning, merge-positioning, push, and jog operations
255
Point type setting
1) Standard setting: Set speed and acceleration in percent of the respective maximum settings.
2) Custom setting : Set speed and acceleration in SI units.
Point teaching
Manual data input (coordinate input), teaching, direct teaching
I/O interface
Selectable from the following: NPN, PNP, CC-Link, DeviceNet, EtherNet/IP*2.
Input
Servo ON (SERVO), reset (RESET), start (START), interlock (/LOCK), origin search (ORG),
manual mode (MANUAL), jog motion - (JOG-), jog motion +(JOG+), point number selection (PIN0 to PIN7)
Output
Servo status (SRV-S), alarm (/ALM), operation end (END), operation in progress (BUSY),
control output (OUT0 - OUT3), point number output 0 to 7 (POUT0 - POUT7)
Communication
RS-232C, 1 channel
Power for brake
-
Emergency stop
circuit
Emergency stop input, emergency stop contact output (1 system: When the HT1 is used.)
Protection function
Position detection error, overheat, overload, overvoltage, low voltage, position deviation, over current,
motor current error, motor line disconnection, enc. power down*4
Ambient operating
temperature and
humidity
0 to 40˚C, 35 to 85% RH (no condensation)
Storage ambient
temperature and
humidity
-10 to 65˚C, 10 to 85% RH (no condensation)
Atmosphere
Indoor, not exposed to direct sunlight. No corrosive gas, inflammable gas, oil mist, and dust particles
should be present.
Vibration resistance
10 to 57Hz in each of XYZ directions, single amplitude 0.075mm, 57 to 150Hz, 9.8m/s2
Protective structure
-
*1.For "controlled robot" details, see section "1.2 List of controlled robots".
*2.EtherNet/IP options cannot be installed into the TS-S. They are applicable to the models from TS-S2.
*3.This value may vary depending on the model.
*4.“ENC. POWER DOWN” error is a protective function that is intended only for TS-SH.
7-1
7
Specifications
Number of points
1.1.2
TS-X
TS-P
100V AC input
Item
Controllable robot
TS-X105
TS-P105
200V AC input
TS-X110
TS-P110
400VA
Dimensions
600VA
TS-X220
TS-P220
400VA
600VA
1400VA
W58×H162×D131mm
Weight
W70×H162×D131mm
Approx. 0.9kg
Approx. 1.1kg
Control power supply
Single-phase
100 to 115V AC ±10%, 50/60Hz
Single-phase
200 to 230V AC ±10%, 50/60Hz
Main power supply
Single-phase
100 to 115V AC ±10%, 50/60Hz
Single-phase
200 to 230V AC ±10%, 50/60Hz
Specifications
Control method
Closed loop vector control method
Position detection
method
TS-X: Multi-turn resolver with absolute position function (resolution: 16384 P/r)
TS-P: Magnetic linear scale (resolution: 1μm)
Operation mode
Positioning operation by specifying point number
Types of operation
Positioning, merge-positioning, push, and jog operations
Number of points
255
Point type setting
1) Standard setting: Set speed and acceleration in percent of the respective maximum settings.
2) Custom setting : Set speed and acceleration in SI units.
Point teaching
Manual data input (coordinate input), teaching, direct teaching
I/O interface
Selectable from the following: NPN, PNP, CC-Link, DeviceNet, EtherNet/IP.
Input
Servo ON (SERVO), reset (RESET), start (START), interlock (/LOCK), origin search (ORG),
manual mode (MANUAL), jog motion - (JOG-), jog motion +(JOG+), point number selection (PIN0 to PIN7)
Output
Servo status (SRV-S), alarm (/ALM), operation end (END), operation in progress (BUSY),
control output (OUT0 - OUT3), point number output 0 to 7 (POUT0 - POUT7)
Communication
RS-232C, 1 channel
Power for brake
24V DC ±10%, 300mA (prepared by user)
Emergency stop
circuit
Emergency stop input, main power input ready output, emergency stop contact output (1 system: When the
HT1 is used.)
Protection function
Position detection error, power module error, overheat, overload, overvoltage, low voltage, position deviation,
over current, motor current error
Ambient operating
temperature and
humidity
0 to 40˚C, 35 to 85% RH (no condensation)
Storage ambient
temperature and
humidity
-10 to 65˚C, 10 to 85% RH (no condensation)
Atmosphere
Indoor, not exposed to direct sunlight. No corrosive gas, inflammable gas, oil mist, and dust particles should
be present.
Vibration resistance
10 to 57Hz in each of XYZ directions, single amplitude 0.075mm, 57 to 150Hz, 9.8m/s2
Protective structure
IP20
*1.For "controlled robot" details, see section "1.2 List of controlled robots".
7-2
TS-X210
TS-P210
TS-X: FLIP-X series
TS-P: PHASER series
*1
Power capacity
7
TS-X205
TS-P205
1.2
List of controlled robots
■ ■ List
Robot
Type
SS
SSC
SG
TRANSERVO Series
SR
SRD
STH
RF
BD
T
F
B
R
C
PHASER Series
MR
MF
TS-S
SS04
SS05
SS05H
SSC04
SSC05
SSC05H
SG07
SR03
SR04
SR05
SRD03
SRD04
SRD05
STH04
STH06
RF02
RF03
RF04
BD04
BD05
BD07
T4H
T4LH
T5H
T5LH
T6
T6L
T9
T9H
F8
F8L
F8LH
F10
F14
F14H
F17
F17L
F20
N15
N18
B10
B14
B14H
R5
R10
R20
C4H
C4LH
C5H
C6
C8
C8L
C8LH
C10
C14
C14H
C17
C17L
C20
MR12/12A
MR16/16A
MF7/7A
MF15/15A
MF20/20A
MF30/30A
MF50/50A
MF75/75A
TS-S2
TS-SH
105
205
TS-X
110
210
220
105
205
TS-P
110
210
220
7
*1
Specifications
FLIP-X Series
N
Model
*1
*1
*1
*1
*1
*1
*2
*1.Requires the RGT regenerative unit.
*2.Requires the RGU-2 regenerative unit.
7-3
■ ■ Robot I/O setting and TRANSERVO series controllable robot TS-S2
TS-SH
The robot I/O setting at shipment may vary depending on the robot model.
Robot
Model
Robot I/O setting
Detailed type
BK
SENSOR
Return-to-origin
method
S, L, R
Stroke-end method
SS04, SS05, SS05H
SB, LB, RB
S
SSC04, SSC05, SSC05H
Stroke-end method
SB
S
*
SB
*
SG07
Stroke-end method
S, L, R, U
Stroke-end method
SR03, SR04, SR05
SB, LB, RB, UB
S, U
SRD03, SRD04, SRD05
Stroke-end method
SB, UB
S, L, R
STH04, STH06
Stroke-end method
SB, LB, RB
NNN, NNH, NHN, NHH
Stroke-end method
SNN, SNH, SHN, SHH
Sensor method
RF02, RF03, RF04
BD04, BD05, BD07
−
Stroke-end method
* SG07 is available only for TS-SH.
c
7
Specifications
7-4
CAUTION
Do not use different combinations. If incorrect connections are made, the robot does not operate correctly.
Dimensional outlines
Dimensional outlines
TS-S2
(70)
25
φ4.5
152
82
152
30
5
162
TS-S
R
5
5
4.5
(Units : mm)
23701-M3-00
TS-SH
123
25
φ4.5
152
4
R
5
(70)
35.2: DIN rail width is 35mm.
30
4.5
(Units : mm)
23701-M5-00
7-5
7
Specifications
Dimensional outlines
4 80.7: Center position of DIN rail
162
(12)
1.3
Dimensional outlines
TS-P (105/110/205/210)
(90)
131
φ5.4
53
162
167
58
4
152
TS-X
5
R
5.4
(8)
EXT connector
(Units : mm)
23701-M1-00
Dimensional outlines
TS-X
TS-P (220)
4
7
φ5.4
53
131
162
152
(90)
167
Specifications
70
58
EXT connector
(8)
5
R
5.4
(Units : mm)
23702-M1-00
7-6
2. I/O interface specifications
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
2.2
PNP
16 points, 24V DC ±10%, 5.5mA per point, negative common
Input
16 points, 24V DC ±10%, 50mA per point, total 0.4A or less per 8 points, source type
Output
2.3
CC-Link
■ ■ CC-Link specifications
Item
Description
CC-Link support version
Ver. 1.10
Remote station type
Remote station device
Station used
1 station/4 stations (when the gateway function is enabled.)
Station No. setting
1 to 64
Communication speed setting
10M / 5M / 2.5M / 625K / 156Kbps
Minimum length between station
0.2m or more
Overall distance
100m (10Mbps) / 160m (5Mbps) / 400m (2.5Mbps) / 900m (625Kbps) / 1200m (156Kbps)
Monitor LED
L RUN, L ERR., SD, RD
7
■ ■ LED indicators
L RUN
L ERR.
SD
RD
Operation
Communication is normal, but CRC errors occasionally occur due to noise.
- (Implausible operation status)
CRC error in reception data, and response is not possible.
- (Implausible operation status)
Normal communication
- (Implausible operation status)
Data destined for local station did not arrive.
- (Implausible operation status)
Polling response is occurring, but CRC error occurred at the refresh reception.
- (Implausible operation status)
CRC error in data destined for local station.
- (Implausible operation status)
- (Implausible operation status)
- (Implausible operation status)
There is no data destined for the local station, but local station reception is disabled due
to noise.
Data reception is disabled due to severed/disconnected line. Power is off or hardware is
being installed.
,
Incorrect "baud rate" or "node No." setting.
: ON
: OFF
: Blinking
7-7
Specifications
Either the "baud rate" or "node No." setting was changed from that which existed when
the status was cleared by a reset.
0.4s
2.4
DeviceNet
■ ■ DeviceNet specifications
Item
Description
Compatible DeviceNet Specs.
Volume1 Release2.0
Volume2 Release2.0
Vendor name
Yamaha Motor Co.,Ltd. (ID=636)
Device type
Generic Device (Device No.0)
Product code
11
Product revision
1.1
Max. network current consumption
40mA
Physical layer insulation present/absent
Present
Support LED
MS, NS
MAC ID setting
0 to 63
Baud rate setting
500K / 250K / 125Kbps
Communication data
Predefined Master/Slave Connection Set
: Group 2 Only server
Dynamic connection support (UCMM)
: No
Explicit message divided transmission support: Yes
Total extension length
Network length
Number of input/output points
7
Branch line length
Total branch line
length
500Kbps
100m
6m or less / 39m or less
250Kbps
250m
6m or less / 78m or less
125Kbps
500m
6m or less / 156m or less
Inputs: 6CH; Outputs: 6CH
■ ■ LED indicators
Type
Indication Status
Description
OFF
Power OFF status
Green ON
Normal initializing completed
Red blinking
Incorrect communication setting
Red ON
Hardware error
OFF
Power OFF status. Communication error check in progress
Green ON
Normal communication
Green blinking
Establishing communication status
Red blinking
Connection time-out in progress
Red ON
MAC ID type. Busoff error
Specifications
MS (module status)
NS (network status)
■ ■ EDS file
File name
Yamaha_TS1.eds
7-8
2.5
EtherNet/IP
■ ■ EtherNet/IP specifications
Item
Description
Compatible EtherNet/IP Specs.
Volume1 : Common Industrial Protocol(CIP TM) Edition 3.8
Volume2 : EtherNet/IP Adaptation Edition 1.9
Vendor name
Yamaha Motor Co.,Ltd. (ID=636)
Device type
Generic Device
Product code
12/14 (when the gateway function is enabled.)
Product revision
1.1
EtherNet interface
10BASE-T/100BASE-TX
Network length
100m
Monitoring LED
MS, NS, Activity, Link
Number of input/output points
Input 6CH, output 6CH/input 24CH, output 24CH (when the gateway function is
enabled.)
■ ■ LED indicators
111 MS (Module status)
Indicates the status of the EtherNet/IP unit.
Indication Status
Description
OFF
Power OFF status
Green ON
Correct status
Green blinking
Connection not established.
Red blinking
Illegal connection setting
Red ON
Hardware error
7
222 NS (Network status)
Indicates the status of the network.
Description
OFF
Power OFF or no IP address
Green ON
Connection established.
Green blinking
Connection not established.
Red blinking
Connection time-out
Red ON
Connection error (duplicate IP address, etc.)
Specifications
Indication Status
333 Activity
Lit in green while the packet is sending or receiving.
444 Link
Lit in green when the link is detected.
■ ■ EDS file
Item
File name
Normal operation
Yamaha_TS1(EIP2).eds
When the gateway function is enabled.
Yamaha_TS1_Gateway(EIP2).eds
7-9
3. TS-Monitor specifications TS-X
3.1
Basic specifications
Item
Specifications
Effective display dimensions
W40.546 × H25.63mm
Screen display
Graphic monochrome LCD
Backlight
Blue and red, 2-color LCD
Contrast adjustment
5 steps
Number of display dots
128 × 64 dots
Outside dimensions of controller
TS-X, TS-P105/110/205/210 with TS-Monitor
W58 × H162 × D137.5 mm
TS-X, TS-P220 with TS-Monitor
W70 × H162 × D137.5 mm
3.2
TS-P
Dimensional outlines (with TS-Monitor TS-X
TS-P )
Dimensional outlines
TS-X
TS-P (105/110/205/210) with TS-Monitor
58
(83.5)
4
φ5.4
53
137.5
152
162
Specifications
167
7
EXT connector
(8)
5
R
5.4
(Units : mm)
23703-M1-00
7-10
Dimensional outlines
4
TS-P (220) with TS-Monitor
137.5
φ5.4
162
53
152
(83.5)
5
R
EXT connector
(8)
70
58
167
TS-X
5.4
(Units : mm)
23704-M1-00
7
Specifications
7-11
4. Regenerative unit specifications
4.1
Dimensional outlines (RGT)
RGT
120
30
φ5.5
15
162
152
142
2
RGEN
R2.75
(Units : mm)
23705-M1-00
4.2
Dimensional outlines (RGU-2)
7
RGU-2
Specifications
157
40
16
5.5
RGEN
290
P
250
265
250
N
(Units : mm)
23701-M2-00
7-12
HT1 Operation Guide
Contents
Introduction
A-1
1.
A-2
What the HT1 does
1.1
HT1 panel layout
A-3
1.2
Connecting to the external safety circuit (HT1-D)
A-5
Connecting or disconnecting the HT1
A-6
2.
2.1
Connecting to the controller
A-6
2.2
Disconnecting from the controller
A-7
3.
Basic operations
A-8
3.1
Operation key layout and functions
A-8
3.2
Screen configuration
A-9
3.3
Starting to use the keys
A-11
3.4
How to enter numbers
A-14
3.5
Menu structure
A-15
4.
Editing the point data
A-16
4.1
Point teaching
4.1.1
4.1.2
Teaching playback
Direct teaching
4.2
Copying point data
A-19
4.3
Deleting point data
A-20
4.4
Displaying a list of point data
A-21
5.
Parameter setting
A-16
A-16
A-18
A-22
5.1
Setting Run parameters
A-22
5.2
Setting I/O parameters
A-23
5.3
Setting Option parameters
A-24
5.4
Setting Servo parameters
A-25
Operating the robot
A-26
6.1
Turning the servo on or off
A-26
6.2
Origin search (return-to-origin)
A-27
6.3
Operating the robot
A-28
6.4
Resetting an alarm
A-30
6.
7.
Monitor functions
A-31
7.1
I/O monitor
A-31
7.2
Status monitor
A-32
7.3
Run monitor
A-33
7.4
Alarm display
A-34
7.5
Warning display
A-34
7.6
Message display
A-35
7.7
Alarm record display
A-36
7.8
Information display
A-37
Other functions
A-38
8.
8.1
Operation mode
A-38
8.2
Setting mode
A-39
8.2.1
Changing the display language
9.
Specifications
A-39
A-40
9.1
Basic specifications
A-40
9.2
Dimensional outlines
A-40
9.2.1
9.2.2
HT1
HT1-D
A-40
A-41
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" (main part
of this manual) to understand the point data and parameter data, as well as controller functions and usage.
A
HT1 Operation Guide
A-1
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
Point data editing
Parameter setting
Robot operation
Display function
A
Others
HT1 Operation Guide
A-2
With the HT1 you can:
Refer to:
Data editing
Set point data including "Run type", Position", "Speed",
"Push" and other information.
3.3
Teaching
Move the robot to a position and teach that position to store it
in point data.
4.1
Copy and deletion
Copy or delete point data you created.
List display
Display a list of point data in the point data number sequence.
4.4
Run parameters
Set parameters needed for robot operation such as positioning
and origin search.
5.1
I/O parameters
Set parameters for terminal pin assignments and I/O
functions.
5.2
Option parameters
Set parameters for options such as CC-Link.
5.3
Servo parameters
Set parameters such as payload, etc.
5.4
Servo status
Turn the servo on or off.
6.1
Origin search
Return the robot to its origin position.
6.2
Positioning
Move the robot to position it at a specified point.
6.3
Jog
Move the robot in jog mode or inching mode with the Jog
keys.
4.1
I/O monitor
Display I/O signal status to or from host device.
7.1
Status monitor
Display internal status such as servo, brake and emergency
stop status.
7.2
Run monitor
Display information such as current position and speed during
operation.
7.3
Alarm and warning
Display recent alarms and warnings that have occurred. A
past alarm history can also be displayed.
7.4 to 7.7
Other information
Display the model numbers and specs of the controller and
robot being used.
7.8
Emergency stop
Immediately stop the robot movement if needed in case of
emergency.
1.2
Operation mode setup
Set the operation mode.
8.1
Setting mode
Select the LCD display language (English/Japanese).
8.2
4.2 to 4.3
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
dropping the HT1 while operating
it or installing it onto equipment.
• LCD screen
This is a liquid crystal display
(LCD) screen with 32 characters
× 10 lines (pixel display),
showing the operation menus
and various types of information.
• Emergency stop button
Pressing this button during
operation immediately stops
robot movement. To release
this button, turn it clockwise.
Releasing this button also
cancels emergency stop.
• Data edit keys
Use these keys to select
menus and edit various data.
(Refer to section 3, "Basic
operations" for more details.)
• Connection cable
This cable connects to the
controller. One end of this cable is
terminated with an 8-pin MD
connector (male). Plug this cable
into the COM1 connector on the
controller front panel.
• Run/stop keys
Use these keys to operate the
robot for teaching or positioning,
or to stop operation. The
and
# keys are also provided to
move the robot in jog mode.
(Refer to section 3, "Basic
operations" for more details.)
23A01-M0-00
w
A-3
A
HT1 Operation Guide
WARNING
• Do not push or strike the LCD screen surface with a pointed tool or hard object. This might scratch or damage the LCD screen.
• The fluid (liquid crystal) in the LCD display is a hazardous substance. If this fluid leaks from the display due to damage and adheres to skin or clothes, wash it off immediately with soap and water.
Then consult a physician.
• Do not wind the connection cable around the HT1 body when storing, and do not bend it sharply. Doing so might break the wires in the connection cable.
• Do not use an extension cord with the connection cable.
• Never disassemble or modify any part of the HT1. Doing so will cause failures or malfunctions.
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.
• Safety connector (HT1-D only)
Use this connector along with the
emergency stop or ENABLE switch
to configure an external safety
circuit. (Refer to section 1.2,
"Connecting to the external safety
circuit (HT1-D)" for more details.
23A02-M0-00
A
HT1 Operation Guide
A-4
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
HT1-D wiring diagram
Emergency stop
1 2 3 4
HT1-D
ENABLE
5 6 7 8 14 15
7 8
HT1-D SAFETY
HT1-D cable
COM1
1 2 3 4
5 6 7 8
7 8
14 15
External safety circuit
(provided by customer)
Controller
EXT
IO
15-pin D-sub connector (female)
(If not using the HT1-D then connect
the supplied 15-pin D-sub connector
(male) to this connector.)
The shorting wire between pins 14 and 15
must be shorter than 60mm.
23A03-M0-00
• 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)
A
ピン番号
Attaching this connector directly to the
safety connector on the HT1-D enables
the emergency stop button only.
23A04-M0-00
15-pin D-sub connector (male: KS9-M532E-001)
ピン番号
1
2
3
4
・
・
・
・
・
15
If not using the HT1-D then attach this
connector directly to the 15-pin D-sub
connector on the external safety circuit so
that the emergency stop circuit is shorted.
23A05-M0-00
c
CAUTION
Set so the voltage and current ratings on the circuit connected to pins 1 to 8 on the supplied 15-pin D-sub
connector are no higher than 30V DC and 1A.
Pins 1 and 14, and pins 2 and 15 on the supplied 15-pin D-sub connector are shorted prior to shipment. When
connecting the HT1-D contacts to the external emergency stop circuit, change the wiring as shown in the above
diagram to short pins 14 and 15 together.
Never attempt to extend the shorting wire between pins 14 and 15. Doing so might cause noise in the wiring that
interferes with HT1-D or controller operation and causes faulty operation. This wiring should be kept short.
A-5
HT1 Operation Guide
1
2
・
・
・
・
・
・
・
14
15
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.
c
CAUTION
• Do not modify the HT1 cable. Modified cables might cause communication errors or malfunctions.
• When connecting the HT1 to the controller or disconnecting it from the controller, always grip it by the connector
body itself.
• A poor connection or inserting the connector the wrong way can result in failure or malfunctions. Be sure that the cable is securely connected.
• When unplugging the connector from the controller, pull it straight out so as not to bend the connector pins.
2.1
Connecting to the controller
1 Connect the HT1 cable to the COM1 connector on the controller front panel.
Connection
Communication connector (COM1)
HT1
Align the arrow mark on the HT1 cable
connector with the rectangular mark of
the COM1 connector (left of the
connector as viewed from the front)
and insert the HT1 cable connector
straight into the COM1.
A
Controller
Grip the connector body and insert it into the COM1.
HT1 Operation Guide
23A06-M0-00
2 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.)
24A01-M0-00
Step 2
Initial screen and main menu screen
Handy Terminal
V1.01
Connecting...
Initial screen
Menu
Point
Operation
Parameter
Monitor
Run mode
Connection
Terminal
NRM [01]
Main menu screen
A-6
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
Grip the connector body and pull it out.
Controller
23A07-M0-00
c
CAUTION
Disconnecting the HT1 while the controller power is on, will trigger emergency stop and the robot servo will turn off.
■ ■ When not using the HT1
When not using the HT1, plug the dummy connector (supplied with the controller) into the COM1 connector.
Dummy connector for COM1
A
Controller
23A08-M0-00
c
CAUTION
When not using the HT1, always attach the dummy connector to the COM1. Operating without the dummy
connector attached will trigger emergency stop and operation cannot be performed.
A-7
HT1 Operation Guide
Dummy connector
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.
3.1
Operation key layout and functions
Operation key layout
Data edit keys
Run/stop keys
23A09-M0-00
Data edit keys
Keys
CLR
FUNC
Use the key to:
Return to the preceding menu or screen.
Display the "Function" menu window for the item being selected.
Scroll up or down the screen or increment/decrement numbers.
A
Move the cursor to a desired digit to enter a numerical value or switch the page in the menu area.
Enable the entry you selected or changes you made.
HT1 Operation Guide
n
NOTE
The HT1 has no number keys. Use
section 3.4, "How to enter numbers".)
and
to enter (increment or decrement) numbers. (Refer to
Run/stop keys
Keys
Use the key to:
RUN
Start moving the robot to perform origin search (return-to-origin) or positioning.
Obtain the current position and store it in specified point data. (teaching)
Turn the servo on or off.
STOP
Stop moving the robot during operation such as origin search or positioning. Press RUN to resume operation.
Move the robot in the - (minus) direction during teaching. The robot moves as long as this key is pressed.
Pressing this key once moves the robot in inching mode (initial setting: 1mm).
Move the robot in the + (plus) direction during teaching. The robot moves as long as this key is pressed.
Pressing this key once moves the robot in inching mode (initial setting: 1mm).
A-8
3.2
Screen configuration
TIP
For position and zone parameters, a two decimal place number can be displayed and input in the TS-S, TS-S2,
TS-SH and TS-X controllers. A three decimal place number can be input and displayed in the TS-P controller.
■ ■ 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.
To select a menu, use
or
to move the cursor to it, and press
.
Operations can be selected and settings can be made while selecting the menus displayed on the screen. (Refer to section
3.5, "Menu structure".)
Main menu screen
NRM [01]
Menu
Point
Operation
Parameter
Monitor
Run mode
Connection
Terminal
Status area
Menu area
Comment area
24A02-M0-00
Menu
Select the menu to:
Point
Perform point teaching or edit point data.
Operation
Turn the servo on or off, or return the robot to its origin, or perform operation.
Parameter
Edit parameters relating to operation and I/O settings.
Monitor
Display I/O status, operation status, alarm history, etc.
Run mode
Switch between Normal mode, Monitor mode, and Debug mode.
Connection
This is not currently used.
Terminal
Make adjustments (factory adjustments). This menu is usually grayed out and not available to users.
■ ■ Screen display example
HT1 Operation Guide
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.
In this example, the comment area shows the operation keys that can be used and the current robot position.
Screen display example ("Point teaching" screen)
Point teaching S=100% NRM [01]
P 1
1. Run type
ABS 2. Position
100.00 mm
3. Speed
100 %
4. Accel.
100 %
5. Decel.
100 %
6. Push
100 %
RUN:Teaching, -/+:JOG
128.00 mm
Current pos.
A
Status area
Menu area
Comment area
24A03-M0-00
A-9
■ ■ "Run mode" display
The currently selected "Run mode" is displayed as an abbreviation on the right of the status area. The meaning of each
abbreviation is described below.
"Run mode" display
Point teaching S=100% NRM [01]
P 1
1. Run type
ABS 2. Position
100.00 mm
3. Speed
100 %
4. Accel.
100 %
5. Decel.
100 %
6. Push
100 %
RUN:Teaching, -/+:JOG
128.00 mm
Current pos.
"Run mode" display
24A04-M0-00
Abbreviation
Run mode
NRM
Normal mode
MON
Monitor mode
DBG
Debug mode
NRM S
Normal mode (safety)
MON S
Monitor mode (safety)
DBG S
Debug mode (safety)
TIP
"Run mode" can be changed from the HT1. Refer to section 8.1, "Operation mode" for more details.
A
HT1 Operation Guide
A-10
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.
c
CAUTION
Before editing data, always make sure that the robot is stopped. Editing data while the robot is moving may
cause problems with the operation.
■ ■ Editing point data
1 On the main menu screen, move
Step 1
the cursor to "Point" and press
"Point" menu screen
.
The "Point" menu screen appears as shown
below. (To return to the main menu screen,
Point
Point edit
Point teaching
press CLR .)
NRM [01]
24A05-M0-00
2 Move the cursor to "Point edit" and
press
.
The "Point edit" screen opens showing a
point number and point data.
The cursor is placed in the point number row
where "P1" is selected when this screen first
opens.
In this state, pressing
displays the second
page of point data in the menu area.
Pressing
"Point" menu
Step 2
"Point edit" screen
Point number row
Page 1
Point edit
P 1
1. Run type
2. Position
3. Speed゙
4. Accel.
5. Decel.
6. Push
returns to the previous page.
24A06-M0-00
3 Select the point number you want
to edit.
NRM [01]
ABS
100.00
100
100
100
100
mm
%
%
%
%
There are 2 methods for selecting a point
number.
1) Increment or decrement the point
number
ポイントヘンシュウ
Point
edit
P 1
P 1
1. Zone(-)
ウンテンタイプ
7.
2. Zone(+)
イチ
8.
3. Near
ソクド width
9.
4. カソクド
10.Jump
5. ゲンソクド
11.Flag
6. オシツケ
12.Call
Pressing
or
will increment or
decrement the point number. When "P1"
is displayed, pressing
changes it to
"P255". When "P255" is displayed,
pressing
Displays point data items
Page 2
changes it to "P1".
NRM [01]
ABS
0.00
100.00
0.00
100
1.00
100
0
100
0
100
0
A
mm
mm
mm
%
%
%
%
HT1 Operation Guide
2) Press FUNC
to open the "Function" menu
and select the point number.
1. On the "Function" menu, select
"Select number".
The "Function" menu changes to the
screen for selecting a point number.
The point number that first appears is
the number that was selected when
the "Function" menu was opened.
2. Press
or
to move the edit cursor
to the point number digit you want to
enter, and increment or decrement
the number using
or
Step 3
"Function" menu window
Point edit
NRM [01]
P 1
1. Run typ Function
ABS 2. Position
100.00 mm
Select number
3. Speed Copy
100 %
4. Accel.
100 %
Delete this
5. Decel.
100 %
Delete all
6. Push Point list
100 %
.
3. After entering the number, press
The cursor moves to "Yes".
.
4. Press
to enable the setting.
The number you entered is then
displayed in the point number row.
24A07-M0-00
Point edit
NRM [01]
P 1
1. Run typeイプ
Select number ABS 2. Position
P 2 100.00 mm
3. Speed
select OK? 100 %
4. Accel
100 %
5. Decel.
100 %
Yes
6. Push
100 %
No
A-11
TIP
• The point number can also be selected from the
point number list that appears when you select "Point list" from the "Function" menu. (Refer to section 4.4, "Displaying a list of point data".)
• For instructions on how to enter numbers such as point numbers, refer to section 3.4, "How to enter numbers".
Step 4
Point number row
NRM [01]
Point edit
P 2
1. Run type
2. Position
3. Speed
4. Accel.
5. Decel.
6. Push
4 After selecting the point number,
press
Data edit screen
ABS
100.00
100
100
100
100
mm
%
%
%
%
.
The cursor moves to the data item area,
allowing you to select a data item for the
selected point number.
Cursor moves to the data item area
("1. Run type").
24A08-M0-00
TIP
When the "Point type" parameter was set to
"Standard setting" by initial processing using the
support software "TS-Manager", then "Speed" and
"Accel." are displayed in percent (%).
When the "Point type" parameter was set to
"Custom setting", then "Speed" and "Accel." are
displayed in SI unit systems (mm/s and m/s2).
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
scrolls to the next page.
6 After selecting the data item, press
.
This allows you to edit the selected data
item. Data you can edit now appears
left-aligned as shown below.
Editable screen
When "Run type" is selected
Data for the selected item is
left-aligned, showing it can be edited.
5 Use
screen, pressing
Step 6
Point edit
P 1
1. Run type
2. Position
3. Speed
4. Accel.
5. Decel.
6. Push
ABS
INC
NRM [01]
ABS
100.00
100
100
100
100
mm
%
%
%
%
Selectable options for "Run type" are displayed here.
If there are 3 or more options, press
or
to
view them.
When "Position" is selected
Data for the selected item is left-aligned,
showing it can be edited.
24A09-M0-00
TIP
• If "Run type" is not selected, then other data items are grayed out and cannot be edited. When "Run type" is set for point data whose data is not defined, then the initial values will be defined.
• For detailed information on each point data item, refer to the "Controller Guide", Chapter 3, section 2, "Point data".
A
HT1 Operation Guide
24A09-M0-00
7 Set the selected data item.
There are 2 setting methods depending on
the selected item: selective method and
direct entry method.
• In the selective method like "Run type",
the selectable options are displayed in
the comment area. Use
or
to
select the desired option and press
.
• In the direct entry method for data items
like "Position", the edit cursor appears at
the rightmost digit of the numerical
value. Set the numerical value by
incrementing or decrementing it with
or
. To enter another digit, use
or
to move the cursor to that digit and
press
or
to set the numerical
value. After entering each digit, press
to enable the setting. (Refer to
section 3.4, "How to enter numbers".
A-12
Point edit
NRM [01]
P 1
ABS 1. Run type
100.00
2. Position
mm
100 %
3. Speed
100 %
4. Accel.
100 %
5. Decel.
100 %
6. Push
FUNC.:change the sign
Pressing FUNC toggles the plus and minus signs
for the numerical value.
8 Set the other point data items.
Follow steps 5 to 7 to set the necessary data
items.
n
NOTE
Repeat steps 3 to 7 when setting data items for
other point numbers.
9 After editing the data, press
CLR
.
The cursor returns to the point number row.
Pressing CLR returns to the "Point" menu
screen in step 1.
A
HT1 Operation Guide
A-13
3.4
How to enter numbers
The HT1 has no number keys. Use
and
to enter numbers.
How to enter numbers
1. When in number edit mode, the edit cursor appears at the rightmost digit of the number.
2 3 . 4 5
2. To change the number at the specified digit (cursor position), press
number, and pressing
decrements the number.
or
. Pressing
increments the
2 3 . 4 6
2 3 . 4 4
3. To move the edit cursor to other digits, press
or
. (If the number contains a decimal point, skip it.)
2 3 . 4 6
4. To enter a number at a digit where no number is entered, first move the edit cursor to that digit.
2 3 . 4 6
5. Pressing
A
or
causes "0" to appear. Then press
or
to set the number.
0 2 3 . 4 6
6. To change the plus/minus signs, press FUNC . Pressing FUNC toggles the plus (+) and minus (-) signs.
HT1 Operation Guide
-
1 2 3 . 4 6
7. After entering the number, press
FUNC
+
-
to enable the setting.
23A10-M0-00
A-14
3.5
Menu structure
Menu structure
Editing
Operation
Read only
(During editing)
P1 to P255
Point
Menu
Point
Operation
Parameter
Monitor
Run mode
Connection
Terminal
NRM
[01]
Edit
1. Run type
Teaching
2. Position
Select number
Copy
3. Speed
FUNC
4. Accel.
Delete this
Delete all
Point list
5. Decel.
6. Push
7. Zone (-)
Initial screen
(During reaching)
8. Zone (+)
Handy Terminal
V1.01
Connecting...
9. Near width
Select number
10. Jump
Speed Edit
11. Flag
Point list
12. Timer
Operation
Main menu
Menu
Point
Operation
Parameter
Monitor
Run mode
Connection
Terminal
NRM
[01]
Menu
Point
Operation
Parameter
Monitor
Run mode
Connection
Terminal
NRM
[01]
Menu
Point
Operation
Parameter
Monitor
Run mode
Connection
Terminal
CLR
FUNC
RUN
STOP
Run
Select number
Reset
Speed Edit
NRM
Run parameter
[01]
I/O parameter
Option parameter
CC-Link
Servo parameter
Monitor
Menu
Point
Operation
Parameter
Monitor
Run mode
Connection
Terminal
(when "Operation" screen is opened)
Origin search
Point list
Parameter
Setting
FUNC
Servo status
NRM
DeviceNet
*Not displayed unless relevant
options are installed.
I/O monitor
[01]
A
Status monitor
Run monitor
Alarm
Warning
FUNC
(when "Alarm records" screen is opened)
Message
Delete this
Information
FUNC
* Start the controller while
holding down FUNC .
Normal mode
Run mode
Menu
Point
Operation
Parameter
Monitor
Run mode
Connection
Terminal
NRM
[01]
Debug mode
NRM
CLR
* To change mode,
start the controller while
holding down CLR .
CLR
FUNC
RUN
STOP
*Not currently used.
Connection
Menu
Point
Operation
Parameter
Monitor
Run mode
Connection
Terminal
Monitor mode
[01]
23A11-M0-00
A-15
HT1 Operation Guide
Alarm records
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.
c
CAUTION
Before editing data, always make sure that the robot is stopped. Editing data while the robot is moving might
cause problems with operation.
4.1
Point teaching
There are two methods for point teaching: teaching playback and direct teaching.
n
NOTE
In either point teaching method, origin search (return-to-origin) must first be completed. (For instructions on how
to perform an origin search using the HT1, refer to section 6.2, "Origin search (return-to-origin".)
Point teaching
Description
Teaching playback
This method moves the robot in manual operation to a desired position and obtains that
position as point data.
Direct teaching
This is basically the same as teaching playback, except that you move the robot by hand in
an emergency stop state.
4.1.1 Teaching playback
In teaching playback, you move the robot in manual operation to a desired position and obtain that position as
a "Position" for point data. Follow these steps to perform teaching playback.
w
WARNING
The robot will now move, so use caution.
1 On the main menu screen, select
"Point".
A
Step 2
"Point teaching" screen
Point
Point edit
Point teaching
The "Point" menu screen appears.
NRM [01]
2 Move the cursor to "Point
teaching" and press
.
HT1 Operation Guide
The "Point teaching screen appears.
The status area shows the speed (like
"S=100%") at which the robot will move
during teaching.
The menu area shows point data items.
The comment area shows the valid key
functions and the current robot position.
24A10-M0-00
TIP
The displayed data items are the same as those
shown on the "Point edit" screen, but cannot be
changed here.
3 Select the point number to perform
teaching.
To select the point number, use the same
procedure as for point data editing. (Press
or
to select the point number, or press FUNC
to select it from the "Function" menu.)
A-16
Point teaching S=100% NRM [01]
P 1
1. Run type
ABS 2. Position
100.00 mm
3. Speed
100 %
4. Accel.
100 %
5. Decel.
100 %
6. Push
100 %
RUN:Teaching, -/+:JOG
50.00 mm
Current pos.
4 Specify the speed to move the
Step 4
robot.
Specify the speed as described below, on
the "Function" menu that appears when you
1.
Point teaching S=100%
[01]
P 1
1. Run
ABS Function
2. Position
100.00 mm
Select number
3. Speed Change speed 100 %
4. Accel.
100 %
Point list
5. Decel.
100 %
6. Push
100 %
RUN:Teaching, -/+:JOG
50.00 mm
Current pos.
press FUNC .
.
1. Select "Change speed" and press
The edit cursor then appears on the
speed value.
2. Set the speed and press
.
To set the speed, use the same
procedure as for setting a point number.
The cursor then moves to "Yes" under the
"Change OK?" message.
Specifying movement speed
2.
Point teaching S=100%
[01]
P 1
1. Run type゚
Change speed ABS 2. Position
100.00 mm
Speed
3. Speed
S = 100 % 100 %
4. Accel.
100 %
Change OK?
5. Dece
100 %
Yes
6. Push
100 %
No
RUN:Teaching, -/+:JOG
50.00 mm
Current pos.
3. Press
to enable the setting.
The speed you set is then displayed as
"S=** %" in the status area.
24A11-M0-00
5 Press the jog keys to move the
robot to the teaching position.
Pressing the
or
key moves the robot
in the direction of the sign. The robot keeps
moving as long as the jog key is pressed and
the message "Running…" will appear during
movement.
3.
Point teaching S=100% NRM [01]
P 1
1. Run
Change speed ABS 2. Positi
100.00 mm
Speed
3. Speed
100 %
S = 80 %
4. Accel.
100 %
Change OK?
5. Decel.
100 %
Yes
6. Push
100 %
No
RUN:Teaching, -/+:JOG
50.00 mm
Current pos.
24A12-M0-00
TIP
Pressing the jog key once moves the robot in
inching mode. (Initial setting is 1.00mm, which can
be changed as needed by using the "Inching
width" (K11) parameter.
Step 5
6 When the robot reaches the
Point teaching S=80% NRM [01]
P 1
1. Run
ABS Jog
2. Position
100.00 mm
3. Speed
100 %
4. Accel. Running… 100 %
5. Decel
100 %
6. Push
100 %
RUN:Teaching, -/+:JOG
100.00 mm
Current pos.
teaching position, release the jog
key to stop the robot.
The message "Running…" no longer appears
when the robot is stopped.
7 Press
RUN
to teach the position.
Press
or
to select "Yes" or "No", and
then press
.
Selecting "Yes" sets the current robot position
in "Position" for point data. Selecting "No"
cancels the current position setting and
returns to the previous screen.
24A13-M0-00
8 Perform teaching for other point
data.
This returns to the "Point" menu screen.
Teaching current position
Point teaching S=100% NRM [01]
P 1
1. Run type Teaching
ABS 2. Position
100.00 mm
Teach
3. Speed Current Pos.? 100 %
4. Accel.
100 %
5. Decel.
100 %
Yes
6. Push
100 %
No
RUN:Teaching, -/+:JOG
128.00 mm
Current pos.
Current robot position is
entered here.
Specify the desired point number and
repeat the above procedure.
9 After teaching the positions, press
Step 7
A
CLR
.
Point teaching S=80% NRM [01]
P 1
1. Run type
ABS 2. Position
128.00 mm
3. Speed
100 %
4. Accel.
100 %
5. Decel.
100 %
6. Push
100 %
RUN:Teaching, -/+:JOG
128.00 mm
Current pos.
A-17
HT1 Operation Guide
A confirmation message then appears
asking whether to teach the current position.
Running screen
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.
1 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".
2 Press the emergency stop button.
3 Move the robot by hand to the
target position.
w
WARNING
Do not turn on the servo during direct
teaching.
4 Press RUN
to teach the position.
A confirmation message then appears
asking whether to teach the current position.
or
to select "Yes" or "No", and
Press
then press
.
Selecting "Yes" sets the current robot position
in "Position" for point data. Selecting "No"
cancels the current position setting and
returns to the previous screen.
24A14-M0-00
5 Perform teaching for other point
data.
Specify the desired point number and
repeat the above procedure.
6 After teaching the positions,
press CLR .
This returns to the "Point" menu screen.
A
HT1 Operation Guide
A-18
Step 4
Teaching current position
Point teaching S=100% NRM [01]
P 1
1. Run type Teaching
ABS 2. Position
100.00 mm
Teach
3. Speed Current Pos.? 100 %
4. Accel.
100 %
5. Decel.
100 %
Yes
6. Push
100 %
No
Teaching, -/+:JOG
128.00 mm
Current pos.
Point teaching S=80% NRM [01]
P 1
1. Run type
ABS 2. Position
128.00 mm
3. Speed
100 %
4. Accel.
100 %
5. Decel.
100 %
6. Push
100 %
RUN:Teaching, -/+:JOG
128.00 mm
Current pos.
Current robot position is entered here.
4.2
Copying point data
This section describes how to copy created point data to another point data number.
1 On the main menu screen, select
Step 2
"Point".
The "Point" menu screen appears.
2 Move the cursor to "Point
teaching" and press
"Point edit" screen
Point
Point edit
Point teaching
NRM [01]
Point edit
P 1
1. Run type
2. Position
3. Speed
4. Accel.
5. Decel.
6. Push
NRM [01]
.
The "Point teaching" screen appears,
showing the point data items in the menu
area.
24A15-M0-00
3 Press FUNC to open the "Function"
menu and select "Copy".
The "Function" menu changes to the window for
specifying the copy source and destination.
The point number that is first displayed as
the copy source is the point number that
was selected when the "Function" menu was
opened.
ABS
100.00
100
100
100
100
mm
%
%
%
%
24A16-M0-00
Step 3
4 Specify the copy source and
destination point numbers.
1. Use
and
to specify the
copy source point number, and press
The cursor then moves to the copy
destination item.
"Copy" screen
Point edit
NRM [01]
P 1
1. Run type Function
ABS 2. Position
100.00 mm
Select number
3. Speed Copy
100 %
4. Accel.
100 %
Delete this
5. Decel.
100 %
Delete all
6. Push Point list
100 %
.
2. Use
and
to specify the copy
destination point number, and press
.
The cursor then moves to "Yes" under the
confirmation message.
3. Press
to copy the data.
The display then returns to the screen
that was displayed before the "Function"
menu was opened. (The copy source
point number is displayed.)
Point edit
NRM [01]
P 1
1. Run type
ABS Copy
mm
2. PositionFrom P
100.00
1
3. Speed
To
P
2 100 %
4. Accel.
100 %
Copy OK?
5. Decel.
100 %
Yes
6. Push
100 %
No
24A17-M0-00
HT1 Operation Guide
Step 4
A
Specifying point number
Point edit
NRM [01]
P 1
1. Run type
ABS Copy
mm
2. Position
100.00
From P
1
3. Speed To
P
9 100 %
4. Accel.
100 %
Copy OK?
5. Decel.
100 %
Yes
6. Push
100 %
No
A-19
4.3
Deleting point data
This section describes how to delete created point data.
c
CAUTION
Deleted data cannot be restored, so be careful.
Step 2
1 On the main menu screen, select
"Point".
"Point edit" screen
Point
Point edit
Point teaching
NRM [01]
Point edit
P 1
1. Run type
2. Position
3. Speed
4. Accel.
5. Decel.
6. Push
NRM [01]
The "Point" menu screen appears.
2 Move the cursor to "Point
teaching" and press
.
The "Point teaching" screen appears,
showing the point data items in the menu
area.
24A18-M0-00
3
Select the point number you want
to delete.
To select the point number, use the same
procedure as for point data editing. (Press
or
to select the point number, or
press FUNC to select it from the "Function"
menu.)
Step 3
ABS
100.00
100
100
100
100
mm
%
%
%
%
Point number select screen
24A19-M0-00
4 Press FUNC to open the "Function"
menu and select "Delete".
A confirmation message appears asking
whether to delete data of the selected
point number.
If you select "Delete all", another
confirmation message will appear asking
whether to delete all point data.
A
5 If it is okay to delete the data, move
the cursor to "Yes" and press
.
HT1 Operation Guide
The data of the selected point number is
then deleted.
If you selected "Delete all", all point data will
be deleted.
The display then returns to the screen that
was displayed before the "Function" menu
opened.
A-20
Point edit
NRM [01]
P 9
1. Run typeプ
ABS Function
2. Position
100.00 mm
Select number
3. Speed Copy
100 %
4. Accel.
100 %
Delete this
5. Decel.
100 %
Delete all
6. Push Point list
100 %
Point edit
NRM [01]
P 1
1. Run typeフ
Delete this ABS 2. Position
100.00 mm
Delete this?
3. Speed
100 %
4. Accel.
100 %
5. Decel.
100 %
Yes
6. Push
100 %
No
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.
1 On the main menu screen, select
Step 2
"Point edit" screen
"Point".
The "Point" menu screen appears.
2 Move the cursor to "Point edit" and
press
Point
Point edit
Point teaching
NRM [01]
Point edit
P 1
1. Run type
2. Position
3. Speed
4. Accel.
5. Decel.
6. Push
NRM [01]
.
The "Point edit" screen opens showing the
point data items in the menu area.
24A20-M0-00
3 Press FUNC to display the "Function"
menu and select "Point list".
Point data appears in the order of point
number, showing "Run type" and "Position"
data.
In this list, pressing
or
moves the
cursor up or down, and pressing
or
switches the page.
ABS
100.00
100
100
100
100
mm
%
%
%
%
While a point number is selected, pressing
enters the data edit screen for the
selected point number.
24A21-M0-00
Step 3
"Function" menu
Point edit
NRM [01]
P 1
1. Run type Function
ABS 2. Position
100.00 mm
Select number
3. Speed Copy
100 %
4. Accel.
100 %
Delete this
5. Decel.
100 %
Delete all
6. Push Point list
100 %
Point list
No.
Run type
P 1
ABS
P 2
ABSmerge
P 3
ABSpush
P 4
P 5
INC
P 6
P 7
P 8
NRM [01]
Pos.(mm)
0.00
520.00
600.00
Point edit
P 1
1. Run type
2. Position
3. Speed
4. Accel.
5. Decel.
6. Push
NRM [01]
A
20.00
HT1 Operation Guide
ABS
100.00
100
100
100
100
mm
%
%
%
%
A-21
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 4, "Parameter data".
c
CAUTION
Before editing data, always make sure that the robot is stopped. Editing data while the robot is moving might
cause problems with operation.
5.1
Setting Run parameters
This section describes how to set a Run parameter using "Soft limit (+)" as an example. Basically, other RUN
parameters can also be set in the same manner.
n
NOTE
Power must be turned off and then back on to
enable changes made to Run parameters.
1 On the main menu screen, select
Step 2
"Run parameter"
"Parameter".
The "Parameter" menu screen opens showing
selectable parameter groups.
2 Move the cursor to "Run
parameter" and press
NRM [01]
Parameter
Run parameter
I/O parameter
Option parameter
Servo parameter
.
The currently set Run parameters are
displayed.
Pressing
or
switches the parameter
display page. When the cursor is on the
bottom row of the screen, pressing
to the next page.
scrolls
Run parameter
Soft limit(-)
Soft limit(+)
In-position
Push mode
Push time
Push speed
Zone(-)
24A22-M0-00
A
3 Move the cursor to the parameter
you want to change and press
.
The value of the selected parameter can
now be changed.
NRM
0.00
150.00
0.01
0
10
10.00
0.00
[01]
mm
mm
mm
ms
mm/s
mm
24A23-M0-00
HT1 Operation Guide
Step 3
4 Change the parameter value.
For instructions on how to change numerical
values, refer to section 3.4, "How to enter
numbers".
5 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.
6 Press
CLR
Changing parameter value
Run parameter
Soft limit(-)
Soft limit(+)
In-position
Push mode
Push time
Push speed
Zone(-)
[01]
mm
mm
mm
ms
mm/s
mm
.
This returns to the "Parameter" menu screen.
[01]
Soft limit(-)
Soft limit(+)
In-position
Push mode
Push time
Push speed
Zone(-)
A-22
NRM
0.00
150.00
0.01
0
10
10.00
0.00
0.00
150.00
0.01
0
10
10.00
0.00
mm
mm
mm
ms
mm/s
mm
5.2
Setting I/O parameters
This section describes how to set an I/O parameter using "OUT0 select" (terminal assignment) as an example.
Basically, other I/O parameters can also be set in the same manner.
n
NOTE
Power must be turned off and then back on to
enable changes made to I/O parameters.
1 On the main menu screen, select
Step 2
"Parameter".
The "Parameter" menu screen opens showing
selectable parameter groups.
2 Move the cursor to "I/O
parameter" and press
"I/O parameter"
Parameter
Run parameter
I/O parameter
Option parameter
Servo parameter
NRM [01]
.
The currently set I/O parameters are
displayed.
Pressing
or
switches the parameter
display page. When the cursor is on the
bottom row of the screen, pressing
to the next page.
scrolls
I/O parameter
OUTO select
OUT1 select
OUT2 select
OUT3 select
POUT select
Alarm No.output
SERVO seguence
24A24-M0-00
3 Move the cursor to the parameter
you want to change and press
The selected parameter can now be
changed.
.
ZONE
NEAR
TLM-S
ORG-S
AFTER
INVALID
EDGE
[01]
-
24A25-M0-00
4 Change the parameter.
Selectable options are displayed in the
comment area. Use
or
to select the
desired option and press
.
To change another I/O parameter, repeat
steps 3 to 4.
5 Press
CLR
.
Step 3
Parameter change screen
I/O parameter
OUTO select
OUT1 select
OUT2 select
OUT3 select
POUT select
Alarm No.output
SERVO seguence
ZONE
NEAR
TLM-S
ORG-S
AFTER
INVALID
EDGE
[01]
-
A
This returns to the "Parameter" menu screen.
[01]
-
HT1 Operation Guide
I/O parameter
OUTO select
ZONE
OUT1 select
NEAR
OUT2 select
TLM-S
OUT3 select
ORG-S
POUT select
AFTER
Alarm No.output INVALID
SERVO seguence
EDGE
NONE
PZONE
A-23
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.
n
NOTE
Power must be turned off and then back on to
enable changes made to Option parameters.
1 On the main menu screen, select
Step 2
"Parameter".
The "Parameter" menu screen opens showing
selectable parameter groups.
2 Move the cursor to "Option
parameter" and press
"Option parameter"
Parameter
Run parameter
I/O parameter
Option parameter
Servo parameter
NRM [01]
Option parameter
CC-Link
Node
Speed
NRM [01]
INVALID 1 10M bps
.
The currently set Option parameters are
displayed.
(The display contents differ depending on
the installed option.)
24A26-M0-00
3 Move the cursor to "CC-Link" and
press
.
The CC-Link settings can now be changed.
24A27-M0-00
4 Change the parameter.
Selectable options are displayed in the
comment area. Use
or
to select
"Valid" and press
.
Change the node number and speed as
needed.
5 Press
CLR
.
Step 3
"CC-Link"screen
Option parameter
CC-Link
Node
Speed
This returns to the "Parameter" menu screen.
A
VALID
INVALID
HT1 Operation Guide
A-24
NRM [01]
INVALID 1 10M bps
5.4
Setting Ser vo parameters
This section describes how to set a Servo parameter using "Payload" as an example.
1 On the main menu screen, select
Step 2
"Parameter".
NRM [01]
Parameter
Run parameter
I/O parameter
Option parameter
Servo parameter
The "Parameter" menu screen opens showing
selectable parameter groups.
2 Move the cursor to "Servo
parameter" and press
"Servo parameter"screen
.
The currently set Servo parameters are
displayed.
24A28-M0-00
n
NOTE
The "Max. accel." parameter is enabled only when
Servo parameter
Payload 1
Max. accel. 1
Payload 2
Max. accel. 2
Stop mode
Stop mode time
Stop current
the HT1 was started while holding down CLR .
3 Move the cursor to "Payload 1" and
press
.
NRM [01]
10 Kg
3.50 m/s2
10 Kg
3.50 m/s2
CLOSED –
200 ms
30 %
The selected parameter can now be
changed.
24A29-M0-00
4 Change the parameter value.
For instructions on how to change numerical
values, refer to section 3.4, "How to enter
numbers".
5 Press
to enable the change.
Use the same procedure to change
"Payload 2" if needed.
6 Press
CLR
Step 3
Payload change screen
Servo parameter
Payload 1
Max. accel. 1
Payload 2
Max. accel. 2
Stop mode
Stop mode time
Stop current
NRM [01]
Kg
3.50 m/s2
10 Kg
3.50 m/s2
CLOSED –
200 ms
30 %
10
.
This returns to the "Parameter" menu screen.
A
HT1 Operation Guide
A-25
6. Operating the robot
6.1
Turning the ser vo 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.
1 On the main menu screen, select
Step 2
"Servo status"screen
"Operation"
The "Operation" menu screen appears
showing selectable menu items.
2 Move the cursor to "Servo status"
and press
NRM [01]
Operation
Servo status
Origin search
Run
Reset
.
The servo on/off status is displayed. The
brake status is also displayed if the robot has
a brake.
Current pos.
128.00 mm
24A30-M0-00
3 Press RUN
to turn the servo on or off.
The servo turns on and off each time you
Servo status
Servo
Brake
NRM [01]
ON
FREE
press RUN .
n
NOTE
The brake can be operated only when the servo is
off.
4 Press
CLR
.
This returns to the "Operation" screen.
A
HT1 Operation Guide
A-26
RUN:change the status
128.00 mm
Current pos.
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.
n
w
NOTE
Origin search cannot be performed unless the
servo is on.
Step 2
"Origin Search" screen
NRM [01]
Operation
Servo status
Origin search
Run
Reset
WARNING
The robot will now move, so use caution.
1 On the main menu screen, select
Current pos.
"Operation".
128.00 mm
The "Operation" menu screen appears
showing selectable menu items.
Origin search
Method: TORQUE
Direction: CCW
Coordinates:Normal
2 Move the cursor to "Origin Search"
and press
.
The "Origin Search" screen appears showing
the origin search method and direction.
24A31-M0-00
3 Ensure safety and press RUN
an origin search.
RUN:Origin search start
128.00 mm
Current pos.
to start
The message "Running…" appears during
origin search.
Step 3
24A32-M0-00
4 When origin search is complete,
Running…
check the message.
RUN:Origin search start
128.00 mm
Current pos.
The message "OK" and machine reference
(Ref. = ** %) appear when the origin search
has ended successfully.
24A33-M0-00
5 Press
CLR
Step 4
Origin search (return-to-origin) completion screen
A
Origin search
NRM [01]
Method: TORQUE
Direction:
CCW search
Origin
Coordinates:
OK
Ref. = 50 %
HT1 Operation Guide
NOTE
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).
For information on how to adjust the machine
reference, contact our sales office or
representative.
Origin search (return-to-origin) running screen
Origin search
NRM [01]
Method: TORQUE
Direction:
CCW search
Origin
Coordinates:--
If you want to stop the origin search, press STOP .
n
NRM [01]
RUN:Origin search start
128.00 mm
Current pos.
.
This returns to the "Origin Search" screen.
Pressing CLR once more returns to the
"Operation" menu screen.
A-27
6.3
Operating the robot
This section describes how to position the robot using the HT1.
w
WARNING
The robot will now move, so use caution.
Step 2
Operation
Servo status
Origin search
Run
Reset
1 On the main menu screen, select
"Operation".
The "Operation" menu screen appears
showing selectable menu items.
2 Move the cursor to "Run" and press
The "Run" screen opens showing a point
number and point data items.
"S=**%" in the status area indicates a speed
override for positioning operation. (Refer to
the "Controller Guide", Chapter 3, section 4,
"Parameter data".)
.
Current pos.
TIP
The displayed data items are the same as those
shown on the "Point edit" screen, but cannot be
edited here.
Step 4
3 Specify the point number.
To specify the point number, use the same
procedure as for point data editing.
Specifying operation speed
Point teaching S=100%
[01]
P 1
1. Run
ABS Function
2. Position
100.00 mm
Select number
3. Spee Change speed 100 %
4. Accel.
100 %
Point list
5. Decel.
100 %
6. Push
100 %
RUN:Teaching, -/+:JOG
50.00 mm
Current pos.
4 Specify the speed.
A
128.00 mm
1.
(Press
or
to specify the point number,
or press FUNC to select it from the "Function"
menu.)
If you want to change the speed, press FUNC
to open the "Function" menu and specify the
speed as follows:
NRM [01]
Run
S=100%
NRM [01]
P 1
1. Run type
ABS 2. Position
185.00 mm
3. Speed
100 %
4. Accel.
100 %
5. Decel.
100 %
6. Push
100 %
RUN:positioning start
128.00 mm
Current pos.
24A34-M0-00
1. Select "Change speed" and press
The edit cursor then appears at the
"Run" screen
2.
.
Point teaching S=100%
[01]
P 1
1. Run
Change speed ABS 2. Position
100.00 mm
Speed
3. Spee
S = 100 % 100 %
4. Accel.
100 %
Change OK?
5. Decel.
100 %
Yes
6. Push
100 %
No
RUN:Teaching, -/+:JOG
50.00 mm
Current pos.
speed value.
HT1 Operation Guide
2. Specify the speed and press
.
To specify the speed, use the same
procedure as for setting a point number.
The cursor then moves to "Yes" under the
"Change OK?" message.
to enable the setting.
3. Press
The speed you specified is then displayed
as "S=** %" in the status area.
24A35-M0-00
A-28
3.
Run
S=100%
NRM [01]
P 1
1. Run type
Change Speed ABS 2. Positio
100.00 mm
Speed
3. Speed
100 %
S = 80 %
4. Accel.
100 %
Change OK?
5. Decel.
100 %
Yes
6. Push
100 %
No
RUN:positioning start
128.00 mm
Current pos.
5 Press RUN
Step 5
to start operation.
The robot starts moving to the position
specified by the point data. The message
"Running…" appears during operation.
If you want to stop the operation, press STOP .
24A36-M0-00
n
NOTE
The robot slows down and stops after pressing STOP .
Running screen
Run
S=80%
NRM [01]
P 1
1. Run type
ABS Run
2. Position
100.00 mm
3. Speed
100 %
4. Accel. Running… 100 %
5. Decel.
100 %
6. Push
100 %
RUN:positioning start
180.00 mm
Current pos.
6 To operate the robot using another
point data, repeat steps 3 to 5.
7 When operation is complete, press
CLR
This returns to the "Operation" menu screen.
.
A
HT1 Operation Guide
A-29
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.
1 On the "Operation" menu screen,
move the cursor to "Reset" and
press
.
Step 1
Alarm contents screen
NRM [01]
Operation
Servo status
Origin search
Run
Reset
The "Reset" screen opens showing a
description of that alarm.
24A37-M0-00
2 Remove the cause of the alarm.
3 Press RUN to perform a reset.
128.00 mm
Current pos.
The message "OK" appears when reset is
complete.
Reset
Alarm:85 OVER LOAD
24A38-M0-00
4 Press
CLR
[01]
.
This returns to the "Operation" menu screen.
c
w
A
HT1 Operation Guide
A-30
CAUTION
Some alarms cannot be reset here. (Refer to the
"Controller Guide", Chapter 6, section 4, "Alarms:
Possible causes and actions".) In such cases, shut
down the control power supply and then restart
the controller.
WARNING
The robot stops if an overload occurs. If
this happens, avoid restarting the robot
operation shortly after the overload. Doing
so might cause the motor malfunctions. The
system should be designed so that robot
operation resumes at least 5 minutes after an
overload alarm occurs.
RUN:Execute Reset
128.00 mm
Current pos.
Step 3
"Reset" screen
Reset
Alarm:85 OVER LOAD
Reset
[01]
OK
RUN:Execute Reset
128.00 mm
Current pos.
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.
Run monitor
Displays the current position, speed, run type, etc. during operation.
Alarm
Displays up to 8 alarms that occurred most recently.
Warning
Displays up to 8 warnings that occurred most recently.
Message *
Displays 1 cause (alarm) of the operation stop that occurred most recently.
Alarm records
Displays past alarms and their descriptions.
Information
Displays the model name and specs of the controller and robot being used.
* This function was added from Ver. 1.06.
7.1
I/O monitor
1 On the main menu screen, select
"Monitor".
The "Monitor" menu screen opens showing
selectable menu items.
2 Move the cursor to "I/O monitor"
and press
.
The "I/O monitor" screen opens showing the
current I/O status.
Pressing
Pressing
displays the second page.
returns to the first page.
• The first page shows the ON/OFF status of
each I/O signal.
= OFF,
= ON
"I/O monitor" screen
Monitor
I/O monitor
Status monitor
Run monitor
Alarm
Warning
Message
Alarm records
NRM [01]
Page 1
I/O monitor
IN
PIN0:□ JOG-:□
PIN1:□ JOG+:□
PIN2:□ MANU:□
ORG:□
PIN3:□
PIN4:□ /LOCK:■
PIN5:□ START:□
PIN6:□ RESET:□
PIN7:□ SERVO:■
NRM [01]
OUT
POUT0:□
POUT1:□
POUT2:□
POUT3:□
POUT4:□
POUT5:□
POUT6:□
POUT7:□
A
HT1 Operation Guide
• On the second page, IN and OUT show
bit addresses (byte units), and WIN and
WOUT show hexadecimal addresses
(word units).
Step 2
24A39-M0-00
3 Press
CLR
.
This returns to the "Monitor" menu screen.
Page 2
NRM [01]
■:ON
IN: □□□□□□□□ OUT: □□□□□□□□
□□□□□□□□
□□■□□□■□
I/O monitor
WIN: □□□□ h
□□□□ h
□□□□ h
□□□□ h
WOUT: □□□□ h
□□□□ h
□□□□ h
□□□□ h
A-31
7.2
Status monitor
1 On the main menu screen, select
"Monitor".
The "Monitor" menu screen opens showing
selectable menu items.
2 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
BRAKE :Brake
E-STOP :Emergency stop
LINK
:Network link
ORGSEN:Origin sensor
ZSTATUS :Linear Z phase
P-BLK
:Main power outage
PZONE :Personal zone
NEAR :Near width output
TLM-S :Pushing status
ORG-S :Origin search status
ZONE :Zone output
MOVE :Moving
WARN
:Warning output
24A40-M0-00
CLR
.
This returns to the "Monitor" menu screen.
A
HT1 Operation Guide
A-32
"Status monitor" screen
Monitor
I/O monitor
Status monitor
Run monitor
Alarm
Warning
Message
Alarm records
Status monitor
SRV-S:
■
BRAKE:
□
E-STOP:
■
LINK:
■
ORGSEN:
□
ZSTATUS:
□
P-BLK:
□
MANU-S :Manual mode status
3 Press
Step 2
NRM [01]
NRM [01]
PZONE:
□
NEAR:
□
TLM-S:
□
ORG-S:
■
ZONE:
■
MOVE:
■
WARN:
□
MANU-S:
□
7.3
Run monitor
1 On the main menu screen, select
"Monitor".
The "Monitor" menu screen opens showing
selectable menu items.
2 Move the cursor to "Run monitor"
and press
.
The "Run monitor" screen opens. Pressing
displays the second page. Pressing
returns to the first page. The meaning of
each item is as follows:
Current pos. : Current robot position (mm)
Current speed: Robot operation speed (mm/s)
Run status
: Operation status
Run point
: Operation point
Current value : Electrical current (%)
Load factor : Load factor (%)
Voltage
: Voltage (V)
Temperature : Temperature in controller (˚C)
Distance
: Total distance robot has moved (km)
Total time
: Total time robot has run (d:h:m)
24A41-M0-00
3 Press
CLR
Step 2
"Run monitor" screen
Monitor
I/O monitor
Status monitor
Run monitor
Alarm
Warning
Message
Alarm records
NRM [01]
Page 1
Run monitor
Current pos.
Current speed
Run status
Run point
Current value
Load factor
Voltage
Temperature
Distance
NRM
629.16
1120.70
ABS
4
-30
20
280.0
40
12.000
[01]
mm
mm/s
%
%
V
°C
km
Page 2
Run monitor
Total Time
NRM [01]
12:15:34 d:h:m
.
This returns to the "Monitor" menu screen.
A
HT1 Operation Guide
A-33
7.4
Alarm display
1 On the main menu screen, select
Step 2
"Alarm" screen
"Monitor".
The "Monitor" menu screen opens showing
selectable menu items.
Monitor
I/O monitor
Status monitor
Run monitor
Alarm
Warning
Message
Alarm records
2 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.
Alarm
NRM [01]
No.
factor
01: 85 OVER LOAD
02: 87 OVER HEAT
03:
04:
05:
06:
07:
08:
24A42-M0-00
TIP
For details on alarms and corrective actions, refer
to the "Controller Guide", Chapter 6, section 4,
"Alarms: Possible causes and actions".)
3 Press
CLR
NRM [01]
.
This returns to the "Monitor" menu screen.
7.5
Warning display
1 On the main menu screen, select
"Monitor".
The "Monitor" menu screen opens showing
selectable menu items.
2 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.
A
24A43-M0-00
HT1 Operation Guide
TIP
For details on warnings and corrective actions,
refer to the "Controller Guide", Chapter 6, section
4, "Alarms: Possible causes and actions".)
3 Press
CLR
.
This returns to the "Monitor" menu screen.
A-34
Step 2
"Warning" screen
Monitor
I/O monitor
Status monitor
Run monitor
Alarm
Warning
Message
Alarm records
NRM [01]
Warning
NRM [01]
No.
factor
01: F1 ABS.Low battery
02:
03:
04:
05:
06:
07:
08:
7.6
Message display
1 On the main menu screen, select
"Monitor".
The "Monitor" menu screen opens showing
selectable menu items.
2 Move the cursor to "Message" and
press
.
The "Message" screen opens showing 1
cause (alarm) of the operation stop that
occurred most recently.
Step 2
"Message" screen
Monitor
I/O monitor
Status monitor
Run monitor
Alarm
Warning
Message
Alarm records
NRM [01]
24A44-M0-00
TIP
For details on messages and corrective actions,
refer to the "Controller Guide", Chapter 6, section
4, "Alarms: Possible causes and actions".)
3 Press
CLR
.
This returns to the "Monitor" menu screen.
Message
NRM [01]
No.
factor
01: 43 NO POINT DATA
02:
03:
04:
05:
06:
07:
08:
A
HT1 Operation Guide
A-35
7.7
Alarm record display
1 On the main menu screen, select
Step 2
"Monitor".
The "Monitor" menu screen opens showing
selectable menu items.
Monitor
I/O monitor
Status monitor
Run monitor
Alarm
Warning
Message
Alarm records
2 Move the cursor to "Alarm records"
and press
.
The "Alarm records" screen opens showing
up to 50 past alarms that occurred.
Pressing
or
down. Pressing
3 To view the details of an alarm,
move the cursor to it and press
The screen shows the date when the alarm
occurred, as well as operating conditions.
On this screen, pressing
second page. Pressing.
page.
Alarm records
NRM [01]
No.
factor
01: 86 OVERHEAT
02: 85 OVERVOLTAGE
03: 88 LOW VOLTAGE
04: 85 OVERVOLTAGE
05: 89 POSITION ERROR
06: 82 ENCODER ERROR
07: 86 OVERHEAT
08: 81 AC POWER DOWN
.
displays the
returns to the first
24A46-M0-00
Step 3
4 Press
CLR to return to the "Alarm
records" screen.
CAUTION
The alarm records are important data used to
analyze problems that occurred in this product, so
do NOT delete them. Leaving the alarm records
undeleted will cause no problems. However, if you
want to delete them, use the procedure below.
■ To delete the alarm records:
1.On the "Alarm records" screen, press FUNC .
HT1 Operation Guide
A-36
Alarm record details screen
Alarm records
No.01
Factor
Time
Position
Speed
Run status
Run point
Current value
Voltage
Pressing CLR once more returns to the
"Monitor" menu screen.
A
NRM [01]
moves the cursor up or
or
switches the page.
24A45-M0-00
c
"Alarm records" screen
2.When the "Function" menu appears showing "Delete all", press
.
3.When a confirmation message appears, select "Yes" and press
.
NRM [01]
86
12:15:34
356.12
3.21
ABS
25
50
280.0
d:h:m
mm
mm/s
%
V
7.8
Information display
The model names and specifications of the controller and robot being used can be displayed.
1 On the main menu screen, select
"Monitor".
The "Monitor" menu screen opens showing
selectable menu items.
Pressing
displays the second page.
(Pressing
returns to the first page.)
Step 2
"Information" screen
Page 2
Monitor
Information
NRM [01]
Press
to display the "Information" on the
second page.
2 Move the cursor to "Information"
and press
.
The "Information" screen opens showing the
model names and specifications of the
controller and robot being used.
24A47-M0-00
3 Press
CLR
.
This returns to the "Monitor" menu screen.
Information
Controller
Option
Version
PNT table type
NRM
TS-□
CC-Link
1.00.00
NORMAL
[01]
-
Robot
Stroke
Max. speed
Max. payload
□12-34
250.000
1200.00
20
mm
mm/s
kg
A
HT1 Operation Guide
A-37
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".
Run mode
HT1 operation
I/O control from host device
Permitted
Permitted
All HT1 operations and host device I/O controls can be
performed.
Only monitor
mode permitted
Permitted
HT1 can be used only in Monitor mode, so editing data or
operating the robot is impossible.
Robot can be operated only from host device by I/O control.
Prohibited
All HT1 operations can be performed, but host device I/O
controls are prohibited. Use this mode when point-teaching
or making adjustments using the HT1 within a safety
enclosure.
Normal mode
Normal mode (safety)
Monitor mode
Monitor mode (safety)
Debug mode
Permitted
Debug mode (safety)
Description
*Robot operation is limited to low speed in the "safety" modes listed above.
c
CAUTION
To change the operation mode, turn on the power to the controller while holding down the CLR on the HT1, or
reinsert the HT1 cable connector into the COM1 connector on the controller front panel. For details on each
operation mode, refer to section 6, "Operation modes", in Chapter 5 of the Controller Guide.
1 On the main menu screen, select
"Run mode".
The "Run mode" menu screen appears. An
asterisk (*) is displayed to the left of the
currently selected mode.
24A48-M0-00
n
A
NOTE
On the HT1 screen, the menu item to select the
operation mode is named "Run mode". The "Run
mode" is selectable only when the HT1 was started
while holding down CLR . Otherwise, all modes
other than the currently selected mode are
grayed out and cannot be selected.
HT1 Operation Guide
2 Move the cursor to the mode you
want to set, and press
3 Press
CLR
.
.
This returns to the main menu screen.
A-38
Step 1
"Run mode"screen
Menu
Point
Operation
Parameter
Monitor
Run mode
Connection
Terminal
NRM [01]
Run Mode
NRM [01]
*
Normal mode
Monitor mode
Debug mode
Normal mode(safety)
Monitor mode(safety)
Debug mode(safety)
I/O :Run OK
Term.:Edit,Run OK
8.2
Setting mode
When you start the HT1 while holding down FUNC , the "Settings" screen appears as shown below. From this
screen, you can change the LCD display language (Japanese/English) if needed.
"Settings" screen
Settings
Serial port
Language
Back light
Brightness B
Brightness GC
Brightness GB
Brightness W
CLR: Go to Menu
English
ON min.
31
10
12
0
23A12-M0-00
c
n
CAUTION
In Setting mode, do not change any settings other than the LCD display language (Japanese/English).
NOTE
After changing the setting, press CLR to enter the main menu screen and enable the change.
8.2.1 Changing the display language
1 Move the cursor to "Language" and
press
.
The language can now be changed.
Selectable options are shown in the
comment area.
24A49-M0-00
2 Use
or
to select the desired
language (Japanese/English) and
press
.
3 Press
CLR
Step 1
"Language"screen
Settings
Serial port
Language
English
Back light
ON
Brightness B
31
Brightness GC
10
Brightness GB
12
Brightness W
0
Japanese
English
min.
A
.
This returns to the "Settings" screen.
HT1 Operation Guide
A-39
9. Specifications
9.1
Basic specifications
Item
Specifications
Outer dimensions
W88 × H191 × D45 mm (not including emergency stop button)
Weight
HT1 : 260kg (without cable), 400g (including cable)
HT1-D : 300kg (without cable), 440g (including cable)
Power
12V DC, 0.25A or less (supplied from controller)
Cable length
3.5m
Interface
RS-232C
Display
Dot matrix monochrome LCD (with backlight), 32 characters × 10 lines
Operation keys
Mechanical switch
Emergency stop button
Normally-closed (with lock mechanism)
ENABLE switch (HT1-D only)
3-position switch
Safety connector (HT1-D only)
15-pin D-sub connector (male)
Basic specifications
External
inputs/outputs
Ambient conditions
Others
9.2
Ambient operating
Temperature/humidity
Ambient storage
Temperature/humidity
0 to +40˚C / 35 to 85% RH (no condensation)
-10 to +65˚C / 10 to 85% RH (no condensation)
Compatible controllers
All TS series models
Dimensional outlines
9.2.1 HT1
HT1
63
88
A
191
HT1 Operation Guide
20
45
53
(Units: mm)
23A13-M0-00
A-40
9.2.2 HT1-D
HT1-D
63
191
88
3-position
ENABLE switch
20
45
53
(Units: mm)
Safety connector
23A14-M0-00
A
HT1 Operation Guide
A-41
Communication Command Guide
Contents
Introduction
B-1
1.
B-2
Communication specifications
1.1
Communication parameter specifications
B-2
1.2
Communication command specifications
B-2
2.
Communication command lists
B-3
3.
Communication command description
B-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)
Brake status change (BRK)
Reset (RESET)
3.3
Edit commands
Point data writing 1 (M, P, S, AC, DC, Q, ZL, ZH, N, J, F, T) Point data writing 2 (P_, S_, AC_, DC_, Q_) Current position teaching (TEACH)
Point data copying (COPY)
Point data deleting (DEL)
Parameter data writing (K)
Automatic node number setting (SETID)
3.4
Query commands
Point data reading (?M, ?P, ?S, ?AC, ?DC, ?Q, ?ZL, ?ZH, ?N, ?J, ?F, ?T) Parameter data reading (?K)
Status data reading (?D)
Input/output information reading (?IN, ?INB, ?OUT, ?OUTB) Word input/output information reading (?WIN, ?WOUT) Option information reading (?OPT, ?OPTB) Alarm/warning information reading (?ALM, ?WARN) B-5
B-5
B-5
B-6
B-6
B-7
B-8
B-8
B-8
B-8
B-9
B-9
B-10
B-11
B-11
B-12
B-12
B-13
B-14
B-14
B-15
B-16
B-17
B-18
B-19
B-20
Introduction
Before reading this section, read the precautions and descriptions stated in the "Controller Guide" (main part
of this manual) to understand the point data and parameter data, as well as controller functions and usage.
B-1
B
Communication Command Guide
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.
B
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 Command Guide
■ ■ Communication parameter specifications
Parameter
n
Setting
Baudrate
38,400bps
Data bit
8 bits
Parity
Odd
Stop bit
1 bit
Flow control
None
NOTE
Data that does not conform to the controller specifications may be received due to a variety of factors during
RS-232C communication.
1.2
Communication command specifications
The TS series robot controller provides ASCII character string communication commands to communicate with
an external communication device.
The communication commands are classified into four categories as follows.
Type
Contents
Robot operation command
Operates or stops the robot.
Status change command
Changes the servo or brake status.
Edit command
Writes the parameter or point data.
Query command
Reads the data or robot status.
n
NOTE
The communication commands are applicable to the controller software version Ver.1.04.106 or higher.
The basic format of the communication command is as follows.
Data transmission format
@<command>[<data number/status>][.n] c/r l/f
@<command>[<data number>][.n]=<setting value> c/r l/f
n: Node number
Data response format
OK.n c/r l/f
NG.n=<alarm number>c/r l/f
RUN.n c/r l/f
END.n c/r l/f
n: Node number
• All communication commands consist of an ASCII character string that begins with a start code '@'(=40h) and ends
with c/r(=0Dh)l/f(=0Ah).
• 'n' (node number) is used for the daisy chain connection. One host communication device communicates with one
robot controller, or with all the daisy-chained controllers (up to 16 controllers).
n
c
NOTE
When 'n' (node number) is omitted, commands are sent to all the daisy-chained controllers.
CAUTION
Make sure to perform automatic node number setting when you first use the daisy-chained controller or when
you have replaced the controllers.
To perform the node number setting, execute "Automatic node number assignment" in the support software
TS-Manager or send the "Automatic node number setting (SETID)" command (communication command).
• The number of bytes, which can be output by one command response, is 255.
B-2
• " , " (comma) means the same as c/r l/f during data transmission.
2. Communication command lists
B
■ ■ Robot operation commands
Command
Format
Command Description
@START<point number>[.<n>]
Positioning operation
STOP
@STOP[.<n>]
Operation stop
ORG
@ORG[.<n>]
Return-to-origin
JOG+
@JOG+[.<n>]
JOG movement (+ direction)
JOG-
@JOG-[.<n>]
JOG movement (- direction)
INCH+
@INCH+[.<n>]
Inching movement (+ direction)
INCH-
@INCH-[.<n>]
Inching movement (- direction)
n: Node number
■ ■ Status change commands
Command
Format
Command Description
SRVO
@SRVO<1 or 0>[.<n>]
Servo status change
BRK
@BRK<1 or 0>[.<n>]
Brake status change
RESET
@RESET[.<n>]
Reset
n: Node number
■ ■ Edit commands
Command
Format
Command Description
M
@M<point number>[.<n>]=<setting value>
Operation type
P
@P<point number>[.<n>]=<setting value>
P_
@P_<point number>[.<n>]=<setting value>
S
@S<point number>[.<n>]=<setting value>
S_
@S_<point number>[.<n>]=<setting value>
AC
@AC<point number>[.<n>]=<setting value>
AC_
@AC_<point number>[.<n>]=<setting value>
DC
@DC<point number>[.<n>]=<setting value>
DC_
@DC_<point number>[.<n>]=<setting value>
Q
@Q<point number>[.<n>]=<setting value>
Q_
@Q_<point number>[.<n>]=<setting value>
ZL
@ZL<point number>[.<n>]=<setting value>
Zone (-)
ZH
@ZH<point number>[.<n>]=<setting value>
Zone (+)
N
@N<point number>[.<n>]=<setting value>
Near width
J
@J<point number>[.<n>]=<setting value>
Jump
F
@F<point number>[.<n>]=<setting value>
Flag
T
@T<point number>[.<n>]=<setting value>
TEACH
@TEACH<point number>[.<n>]
Current position teaching
COPY
@COPY<point number 1>-<point number 2>[.<n>]
Point data copying
DEL
@DEL<point number 1>[-<point number 2>][.<n>]
Point data deleting
K
@K<parameter number>[.<n>]=<setting value>
Parameter data writing
SETID
@SETID
Automatic node number setting (when daisy
chain function is used)
Position
(Data is not saved into
the memory.)
Speed
(Data is not saved into
the memory.)
Acceleration
(Data is not saved into
the memory.)
Point data
Deceleration
writing
Push
(Data is not saved into
the memory.)
(Data is not saved into
the memory.)
Timer
n: Node number
B-3
Communication Command Guide
START
■ ■ Quer y commands
Command
B
Format
Command Description
Communication Command Guide
?M
@?M<point number>[.<n>]
Operation type
?P
@?P<point number>[.<n>]
Position
?S
@?S<point number>[.<n>]
Speed
?AC
@?AC<point number>[.<n>]
Acceleration
?DC
@?DC<point number>[.<n>]
Deceleration
?Q
@?Q<point number>[.<n>]
?ZL
@?ZL<point number>[.<n>]
?ZH
@?ZH<point number>[.<n>]
Zone (+)
?N
@?N<point number>[.<n>]
Near width
?J
@?J<point number>[.<n>]
Jump
?F
@?F<point number>[.<n>]
Flag
?T
@?T<point number>[.<n>]
Timer
?K
@?K<parameter number>[.<n>]
Parameter data reading
?D
@?D<status number>[.<n>]
Status information reading
?IN
@?IN<input number>[.<n>]
Input information reading
?INB
@?INB<input bit number>[.<n>]
Input information (bit) reading
?OUT
@?OUT<output number>[.<n>]
Output information reading
?OUTB
@?OUTB<output bit number>[.<n>]
Output information (bit) reading
?WIN
@?WIN<word input number>[.<n>]
Input word information reading
?WOUT
@?WOUT<word output number>[.<n>]
Output word information reading
?OPT
@?OPT<option number>[.<n>]
Option information reading
?OPTB
@?OPTB<option bit number>[.<n>]
Option information (bit) reading
?ALM
@?ALM<alarm occurrence number>[.<n>]
Alarm information reading
?WARN
@?WARN<warning occurrence number>[.<n>]
Warning information reading
Point data
reading
Push
Zone (-)
n: Node number
B-4
3. Communication command description
3.1
B
Robot operation commands
The robot operation commands are intended to operate or stop the robot.
Format
Meaning
@START<point number>[.<node number>] c/r l/f
@START<point number>[#P<position data>][.<node number>] c/r l/f
Starts the positioning operation of specified point data.
Function
This command has the same function as the start (START) input.
When #P<position data> is added to a portion immediately after the position number, the operation can be performed by
registering the position data into the point data again.
This is called direct position designation positioning operation.
The unit of the position data is the same as that used for the point data writing. For details, refer to section 3.3 "Edit
commands" in this Communication Command Guide.
n
NOTE
The direct position designation positioning operation is available from controller’s software version Ver.1.11.125.
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
@START1.1 c/r l/f
Positioning operation of point data 1
RUN.1 c/r l/f
Starts the positioning operation.
END.1 c/r l/f
Normal end
@START2.1 c/r l/f
Positioning operation of point data 2
RUN.1 c/r l/f
Accepts the positioning operation and starts it.
NG.1=44 c/r l/f
Abnormal end
(Operation is stopped by alarm "44: SOFTLIMIT OVER".)
Operates by registering “position = 100.00mm” into the point data 1.
@START1#P10000.1 c/r
RUN.1 c/r l/f
Starts the positioning operation.
END.1 c/r l/f
Normal end
Operation stop (STOP)
Format
Meaning
@STOP[.<node number>] c/r l/f
Stops the operation.
Function
Stops the operation/movement of the robot.
When the operation/movement is stopped by this command, the robot decelerates, and then stops.
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
Transmission
Response
@START1.1 c/r l/f
Positioning operation of point data 1
RUN.1 c/r l/f
@STOP.1 c/r l/f
Starts the positioning operation.
Stop
NG.1=46 c/r l/f
Abnormal end
(Operation is stopped by alarm "46: STOP KEY".)
B-5
Communication Command Guide
Positioning operation (START)
Return-to-origin (ORG)
Format
B
Meaning
@ORG[.<node number>] c/r l/f
Performs the return-to-origin.
Function
This command has the same function as the return-to-origin (ORG) input.
Communication Command Guide
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
Transmission
Response
@ORG.1 c/r l/f
Return-to-origin operation
RUN.1 c/r l/f
Starts the return-to-origin.
END.1 c/r l/f
Normal end
JOG movement (JOG+, JOG-)
Format
Meaning
@JOG+[.<node number>] c/r l/f
@JOG-[.<node number>] c/r l/f
Performs the JOG movement in the + or - direction.
Function
Performs the JOG movement of the robot in a specified direction (+/-).
n
NOTE
• The JOG movement speed is set using "JOG speed (K10)" of the RUN parameter.
(See also Chapter 3, section 4.2 "Parameter details" of the Controller Guide.)
• The JOG movement using the communication command does not relate to the manual mode status.
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
Transmission
Response
@JOG+.1 c/r l/f
JOG movement in the + direction.
RUN.1 c/r l/f
@STOP.1 c/r l/f
Transmits the operation stop.
OK.1 c/r l/f
B-6
Starts the JOG movement.
JOG movement normal stop
Inching movement (INCH+, INCH-)
Format
Meaning
@INCH+[.<node number>] c/r l/f
@INCH-[.<node number>] c/r l/f
B
Performs the inching movement in the + or - direction.
Function
Performs the inching movement of the robot in a specified direction (+/-).
NOTE
• The inching width (amount) is set using "Inching width (K11)" of the RUN parameter.
(See also Chapter 3, section 4.2 "Parameter details" of the Controller Guide.)
• The inching movement using the communication command does not relate to the manual mode status.
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
Transmission
Response
@INCH-.1 c/r l/f
Inching movement in the - direction.
RUN.1 c/r l/f
Starts the inching movement.
END.1 c/r l/f
Normal end
B-7
Communication Command Guide
n
3.2
B
Status change commands
The status change commands are intended to change the servo or brake status.
Ser vo status change (SRVO)
Format
Meaning
@SRVO<1 or 0>[.<node number>] c/r l/f
Changes the servo status.
Communication Command Guide
Function
This command has the same function as the servo ON (SERVO) input.
Setting
<1 or 0>
: 1 Servo ON, 0 Servo OFF
<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
@SRVO1.1 c/r l/f
Servo ON
OK.1 c/r l/f
Normal end
Brake status change (BRK)
Format
Meaning
@BRK<1 or 0>[.<node number>] c/r l/f
Changes the brake status.
Function
Changes the brake status. Note that the brake status cannot be changed while the servo is ON.
Setting
<1 or 0>
: 1 Brake ON, 0 Brake release
<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
@BRK0.1 c/r l/f
Brake release
OK.1 c/r l/f
Normal end
Reset (RESET)
Format
Meaning
@RESET[.<node number>] c/r l/f
Performs the reset.
Function
This command has the same function as the reset (RESET) input.
When executing this command, the following operations are performed.
(1) Resets the alarm.
(2) Clears the point number output.
(3) Clears the remaining movement amount of the relative positioning operation.
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
Transmission
Response
@RESET.1 c/r l/f
Reset
OK.1 c/r l/f
B-8
Normal end
3.3
Edit commands
The edit commands are intended to write data, such as parameter or point.
B
Point data writing 1 (M, P, S, AC, DC, Q, ZL, ZH, N, J, F, T)
Format
Writes the setting value to the individual data of a specified point, and saves it into the memory.
Meaning
Function
Writes the setting value to the individual data of a specified point. The written data is saved into the memory (EEPROM).
The command may vary depending on the type of individual data. For details, see the table below.
■ ■ Command and data type
Unit
Command
Type
Standard Setting
M
c
n
Operation type
Custom Setting
-
Other than TS-P
TS-P : 0.01mm
: 0.001mm
P
Position
S
Speed
%
0.01mm/s
AC
Acceleration
%
0.01m/s 2
DC
Deceleration
%
Q
Push
%
ZL
Zone (-)
Other than TS-P
TS-P : 0.01mm
: 0.001mm
ZH
Zone (+)
Other than TS-P
TS-P : 0.01mm
: 0.001mm
N
Near width
Other than TS-P
TS-P : 0.01mm
: 0.001mm
J
Jump
-
F
Flag
-
T
Timer
ms
CAUTION
There is a limit to the number of data writing cycles for the memory (EEPROM). So, when it is required to frequently
write the data to the memory, use commands described in "point data writing 2".
NOTE
The individual data of the point data related to the position or speed may include the decimal point due to the
specifications. However, when handling such data using the communication command, all of data are handled
as integer values. For example, when the position data is "20 [mm]", the communication command at the TS-S,
TS-S2, TS-SH, and TS-X would be "2000" (×10-2), and the communication command at the TS-P would be "20000"
(×10-3). In both cases, no decimal point is used.
TIP
For point data details, see Chapter 3, section 2, "Point data" of the Controller Guide.
B-9
Communication Command Guide
@M<point number>[.<node number>]=<setting value> c/r l/f
@P<point number>[.<node number>]=<setting value> c/r l/f
@S<point number>[.<node number>]=<setting value> c/r l/f
@AC<point number>[.<node number>]=<setting value> c/r l/f
@DC<point number>[.<node number>]=<setting value> c/r l/f
@Q<point number>[.<node number>]=<setting value> c/r l/f
@ZL<point number>[.<node number>]=<setting value> c/r l/f
@ZH<point number>[.<node number>]=<setting value> c/r l/f
@N<point number>[.<node number>]=<setting value> c/r l/f
@J<point number>[.<node number>]=<setting value> c/r l/f
@F<point number>[.<node number>]=<setting value> c/r l/f
@T<point number>[.<node number>]=<setting value> c/r l/f
Setting
<Point number> : 1 to 255
B
<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
@P1.1=30000 c/r l/f
Writes "30000" to "Position" of point data 1.
Communication Command Guide
OK.1 c/r l/f
@S1.1=50 c/r l/f
Normal end
Writes "50" to "Speed" of point data 1.
OK.1 c/r l/f
@AC1.1=100 c/r l/f
Normal end
Writes "100" to "Acceleration" of point data 1.
OK.1 c/r l/f
@DC1.1=50 c/r l/f
Normal end
Writes "50" to "Deceleration" of point data 1.
OK.1 c/r l/f
@M1.1=1 c/r l/f
Normal end
Writes "1" (ABS) to "Operation type" of point data 1.
OK.1 c/r l/f
Normal end
Point data writing 2 (P_, S_, AC_, DC_, Q_)
@P_<point number>[.<node number>]=<setting value> c/r l/f
@S_<point number>[.<node number>]=<setting value> c/r l/f
@AC_<point number>[.<node number>]=<setting value> c/r l/f
@DC_<point number>[.<node number>]=<setting value> c/r l/f
@Q_<point number>[.<node number>]=<setting value> c/r l/f
Format
Writes the setting value to the individual data of a specified point.
Meaning
Function
Writes the setting value to the individual data of a specified point. The written data is not saved into the memory.
The command may vary depending on the type of individual data. For details, see the table below.
■ ■ Command and data type
Unit
Command
Type
Standard Setting
Other than TS-P
TS-P : 0.01mm
: 0.001mm
P_
Position
S_
Speed
%
0.01mm/s
AC_
Acceleration
%
0.01m/s 2
DC_
Deceleration
%
Push
%
Q_
n
Custom Setting
NOTE
• Even when the setting value is written using this command, the value is not saved into the memory. So, the value is returned to its previous value after the power has been turned off, and then turned on again. When the setting value needs to be saved into the memory, it is necessary to write the operation type (M) after the setting value has been written.
• The individual data of the point data related to the position or speed may include the decimal point due to the specifications. However, when handling such data using the communication command, all of data are handled as integer values. For example, when the position data is "20 [mm]", the communication command at
the TS-S, TS-S2, TS-SH, and TS-X would be "2000" (×10-2), and the communication command at the TS-P would be "20000" (×10-3). In both cases, no decimal point is used.
• This command is valid from version 1.04.xxx or higher.
TIP
For point data details, see Chapter 3, section 2, "Point data" of the Controller Guide.
B-10
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
@P_1.1=30000 c/r l/f
Writes "30000" to "Position" of point data 1.
@S_1.1=50 c/r l/f
Normal end
Writes "50" to "Speed" of point data 1.
OK.1 c/r l/f
@AC_1.1=100 c/r l/f
Normal end
Writes "100" to "Acceleration" of point data 1.
OK.1 c/r l/f
@DC_1.1=50 c/r l/f
Normal end
Writes "50" to "Deceleration" of point data 1.
OK.1 c/r l/f
Normal end
Current position teaching (TEACH)
Meaning
@TEACH<point number>[.<node number>] c/r l/f
Teaches the current position to the position data of specified point data.
Function
This command has the same function as the current position teaching (TEACH) input.
n
NOTE
• The current position teaching using the communication command does not relate to the manual mode and interlock statuses.
• If the return-to-origin is not completed, the abnormal end is returned.
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
@TEACH2.1 c/r l/f
Teaches the current position to point data 2.
OK.1 c/r l/f
Normal end
Point data copying (COPY)
Format
Meaning
@COPY<point number 1>-<point number 2>[.<node number>] c/r l/f
Copies the data of the point number 1 to the data of the point number 2.
Function
Copies the data of point number 1 to point number 2.
Setting
<Point number> : 1 to 255
< Point number 1> Copy source number
< Point number 2> Copy destination number
<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
@COPY2-3.1 c/r l/f
Copies point data 2 to point data 3.
OK.1 c/r l/f
Normal end
B-11
Communication Command Guide
OK.1 c/r l/f
Format
B
Response
Point data deleting (DEL)
Format
B
Meaning
@DEL<point number 1>[-<point number 2>][.<n>] c/r l/f
Deletes specified point data.
Function
Deletes the point data between Point No.1 and Point No.2.
Communication Command Guide
n
NOTE
If the number specified for Point No.1 is larger than that of Point No.2, the point data between Point No.2 and
Point No.1 is deleted.
Setting
<Point number> : 1 to 255
< Point number 1> Delete start number
< Point number 2> Delete end number
When the number of point data you want to delete is "1", < point number 2> can be omitted.
<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
@DEL1.1 c/r l/f
Deletes point data 1.
OK.1 c/r l/f
@DEL1-3.1 c/r l/f
Normal end
Deletes point data 1 to 3.
OK.1 c/r l/f
Normal end
Parameter data writing (K)
Format
Meaning
@K<parameter number>[.<node number>]=<setting value> c/r l/f
Writes the setting value to a specified parameter.
Function
Writes the setting value to a specified parameter.
c
n
CAUTION
When parameters need to be edited, do not edit parameters not described in this guide. Doing so may cause a
communication failure or malfunction.
NOTE
• Some parameter data may include the decimal point due to the specifications. However, when handling such data using the communication command, all of data are handled as integer values. For example, when
K1 ((-) soft limit) is "20 [mm]", the communication command at the TS-S, TS-S2, TS-SH, and TS-X would be
"2000" (×10-2), and the communication command at the TS-P would be "20000" (×10-3). In both cases, no decimal
point is used.
• The operation parameter, I/O parameter, and option parameter you have changed become valid after the power has been turned off, and then turned on again.
Setting
<Parameter number>:1 to 138
<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.)
TIP
For parameter number details, see Chapter 3, section 4, "Parameter data" of the Controller Guide.
Communication example
Transmission
Response
@K10.1=50 c/r l/f
Writes "50" to parameter data K10 (JOG speed).
OK.1 c/r l/f
B-12
Normal end
Automatic node number setting (SETID)
Format
Meaning
@SETID
B
Sets node numbers for daisy-chained controllers.
Function
w
WARNING
• The maximum number of controllers that can be daisy-chained is 16. If 17 or more controllers are connected, they may not operate properly.
• Make sure that there are no daisy-chained controllers having the same node number before sending other command.
If there are controllers with the same node number, perform automatic node number setting again. If you do not do this, the system may not operate properly.
Communication example (16 daisy-chained controllers)
Transmission
Response
@SETID c/r l/f
Performs automatic node number setting
OK.1 c/r l/f
Node number 1 setting end
OK.2 c/r l/f
Node number 2 setting end
:
OK.16 c/r l/f
c
Node number 16 setting end
CAUTION
If you receive several identical responses, there is a duplication of node number.
[Example]When reading the node number (K38) from all the nodes by query command
Transmission
Response
@?K38 c/r l/fK38.1=1 c/r l/f
OK.1 c/r l/f
K38.2=2 c/r l/f
OK.2 c/r l/f
Duplication
K38.2=2 c/r l/f
OK.2 c/r l/f
In this case, be sure to perform automatic node number setting.
B-13
Communication Command Guide
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.
3.4
B
Quer y 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)
Communication Command Guide
Format
@?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
@?Q<point number>[.<node number>] c/r l/f
@?ZL<point number>[.<node number>] c/r l/f
@?ZH<point number>[.<node number>] c/r l/f
@?N<point number>[.<node number>] c/r l/f
@?J<point number>[.<node number>] c/r l/f
@?F<point number>[.<node number>] c/r l/f
@?T<point number>[.<node number>] c/r l/f
Meaning
Reads the individual data of a specified point.
Function
Reads the individual data of a specified point.
The command may vary depending on the type of individual data. For details, see the table below.
■ ■ Command and data type
Unit
Command
Type
Standard Setting
?M
n
Operation type
Custom Setting
-
Other than TS-P
TS-P : 0.01mm
: 0.001mm
?P
Position
?S
Speed
%
0.01mm/s
?AC
Acceleration
%
0.01m/s 2
?DC
Deceleration
%
?Q
Push
%
?ZL
Zone (-)
Other than TS-P
TS-P : 0.01mm
: 0.001mm
?ZH
Zone (+)
Other than TS-P
TS-P : 0.01mm
: 0.001mm
?N
Near width
Other than TS-P
TS-P : 0.01mm
: 0.001mm
?J
Jump
-
?F
Flag
-
?T
Timer
ms
NOTE
The individual data of the point data related to the position or speed may include the decimal point due to the
specifications. However, when handling such data using the communication command, all of data are handled
as integer values. For example, when the position data is "20 [mm]", the communication command at the TS-S,
TS-S2, TS-SH, and TS-X would be "2000" (×10-2), and the communication command at the TS-P would be "20000"
(×10-3). In both cases, no decimal point is used.
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.)
B-14
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
B
Reads "Speed" of point data 2.
Receives the data.
OK.1
Normal end
Parameter data reading (?K)
Format
Meaning
@?K<parameter number>[.<node number>] c/r l/f
Reads a specified parameter.
Function
Reads the setting value of a specified parameter.
n
NOTE
Some parameter data may include the decimal point due to the specifications. However, when handling such
data using the communication command, all of data are handled as integer values. For example, when
K1 ((-) soft limit) is "20 [mm]", the communication command at the TS-S, TS-S2, TS-SH, and TS-X would be "2000"
(×10-2), and the communication command at the TS-P would be "20000" (×10-3). In both cases, no decimal point is
used.
Setting
<Parameter number>:1 to 138
<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.)
TIP
For parameter number details, see Chapter 3, section 4, "Parameter data" of the Controller Guide.
Communication example
Transmission
Response
@?K10.1 c/r l/f
Reads parameter data K10 (JOG speed).
K10.1=50 c/r l/f
Receives the data.
OK.1 c/r l/f
Normal end
B-15
Communication Command Guide
S2.1=100 c/r l/f
Status data reading (?D)
@?D<status number>[.<node number>] c/r l/f
Format
B
Meaning
Reads specified status information.
Function
Reads the status information, such as current position or speed.
Communication Command Guide
Setting
<Status number>: 0 to 20 (See the table below.)
<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.)
■ ■ Data number and type of status information
Number
Name
Unit
Contents
Other than TS-P : 0.01mm
TS-P : 0.001mm
0
Current position
1
Current speed
2
Electrical current
6
Position command
7
Speed command
9
Voltage value
0.1V
10
Temperature
°C
13
Current point number
-
Point number of positioning operation currently running
14
Load rate
%
Overload error occurs if the load rate reaches 100%.
%
Machine reference
(See the explanation on Machine reference stated in Chapter 5,
section 2.3, "Origin point and coordinates relationship" of the
Controller Guide.)
17
0.01mm/s
Current position information
Actual speed information
%
Percentage of electrical current to rated current
Other than TS-P : 0.01mm
TS-P : 0.001mm
Position command information currently running
0.01mm/s
Machine reference
Speed command information currently running
Motor drive voltage
Temperature of motor drive module
Value
18
Operation status
-
Meaning
-1
Return-to-origin is being executed.
0
Stopping
1
ABS
2
INC
3
ABS merge
4
5
Operation
type
INC merge
ABS push
6
INC push
7
ABS deceleration push
8
INC deceleration push
Communication example
Transmission
Response
@?D0.1 c/r l/f
B-16
Reads the information on status number 0 (current position).
D0.1=32000 c/r l/f
Receives the data.
OK.1 c/r l/f
Normal end
Input/output information reading (?IN, ?INB, ?OUT, ?OUTB)
Format
Meaning
Input information
@?IN<input number>[.<node number>] c/r l/f
@?INB<input bit number>[.<node number>] c/r l/f
Output information
@?OUT<output number>[.<node number>] c/r l/f
@?OUTB<output bit number>[.<node number>] c/r l/f
B
Reads specified input/output information.
Reads the information on specified input/output signal.
The read-out results of the input/output information in decimal notation are returned.
Setting
<Input/output number>
:1 (See the table below.)
<Input/output bit number>:0 to 15 (See the table below.)
<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.)
■ ■ Input/output information type
Input/output Input/output
Number
Bit Number
Input
Symbol
Output
Meaning
Symbol
0
PIN0
POUT0
1
PIN1
POUT1
2
PIN2
POUT2
3
PIN3
Meaning
POUT3
Point number selection
Point number output
4
PIN4
POUT4
5
PIN5
POUT5
6
PIN6
POUT6
7
PIN7
POUT7
8
JOG+
JOG movement (+ direction)
OUT0
9
JOG-
JOG movement (- direction)
OUT1
10
MANUAL
Manual mode
OUT2
11
ORG
Return-to-origin
OUT3
12
/LOCK
Interlock
BUSY
13
START
Start
END
Operation completion
14
RESET
Reset
/ALM
Alarm
15
SERVO
Servo ON
1
Control output
SRV-S
Operation is being executed.
Servo status
Communication example
Transmission
Response
@?IN1.1 c/r l/f
Reads the information on input 1 (bit 15 to 0).
IN1.1=36864 c/r l/f
Receives the data. 36864 = 9000h
OK.1 c/r l/f
Normal end
@?OUTB0.1 c/r l/f
Reads the information on output bit 0.
OUTB0.1=1 c/r l/f
Receives the data.
OK.1 c/r l/f
Normal end
B-17
Communication Command Guide
Function
Word input/output information reading (?WIN, ?WOUT)
B
Format
Meaning
Input information
@?WIN<word input number>[.<node number>]c/r l/f
Output information
@?WOUT<word output number>[.<node number>]c/r l/f
Reads specified word input/output information.
Communication Command Guide
Function
Reads the word input/output information.
The read-out results of the word input/output information in decimal notation are returned.
n
NOTE
The word input/output is a data area to be used by the remote command.
Setting
<Word input/output number>: 0 to 3 (See the table below.)
<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.)
■ ■ Input/output information type
Input
Input/output
Number
Symbol
0
WIN0
1
WIN1
2
WIN2
3
WIN3
Output
Meaning
Symbol
Execution command
WOUT0
Meaning
Status
WOUT1
Command option
WOUT2
Command response
WOUT3
Communication example
Transmission
Response
@?WIN1.1 c/r l/f
B-18
Reads the information on word input 1 (WIN1).
WIN1.1=4096 c/r l/f
Receives the data. 4069 = 1000h
OK.1 c/r l/f
Normal end
Option information reading (?OPT, ?OPTB)
Format
Meaning
@?OPT<option number>[.<node number>] c/r l/f
@?OPTB<option bit number>[.<node number>] c/r l/f
B
Reads specified option information.
Function
Setting
<Option number>
:0 to 2 (See the table below.)
<Option bit number> :0 to 31 (See the table below.)
<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.)
■ ■ Option information type
Option Number
Option
Information 1
Option Bit Number
Symbol
Meaning
0
PZONE
1
NEAR
Near width output
2
TLM-S
Push status
3
ORG-S
Return-to-origin completion status
4
ZONE
Zone output
5
MOVE
Moving
6
WARN
Warning output (1: Warning occurs.)
7
MANU-S
8
BUSY
9
END
Operation completion
10
ALM
Alarm (1: Alarm status)
11
SRV-S
Servo status
12
LOCK
Interlock (1: Interlock status)
13
BRAKE
Brake status
14
E-STOP
Emergency stop status (1: Emergency stop)
15
-
(Reserved.)
16
-
(Reserved.)
17
-
(Reserved.)
18
-
(Reserved.)
19
LINK
20
ORGSEN
21 to 31
-
Individual zone output
Manual mode status
1
Operation is being executed.
0
Option
Information 2
n
2
Network link status
Origin sensor signal input
(Reserved.)
NOTE
When option number 0 is specified, all of the 32-bit information are output at once in binary notation.
Communication example
Transmission
Response
@?OPT1.1 c/r l/f
Reads option information 1 (bit 15 to 0).
OPT1.1=35336 c/r l/f
Receives the data. 35336 = 8A08h
OK.1 c/r l/f
Normal end
@?OPTB11.1 c/r l/f
Reads option information bit 11.
OPTB11.1=1 c/r l/f
SRV-S = 1 (Servo ON status)
OK.1 c/r l/f
Normal end
B-19
Communication Command Guide
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.
Alarm/warning information reading (?ALM, ?WARN)
B
Format
Meaning
@?ALM<alarm occurrence number>[.<node number>] c/r l/f
@?WARN<warning occurrence number>[.<node number>] c/r l/f
Reads the alarm/warning information currently occurring.
Function
Reads the alarm/warning information currently occurring.
Communication Command Guide
TIP
For details regarding the alarm and warning numbers and their contents, see Chapter 6 "Troubleshooting" of the
Controller Guide.
Setting
<Alarm/warning occurrence number>:1 to 32
<Node number>
n
: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.)
NOTE
If multiple alarms and warnings occur, the alarm/warning occurrence numbers are sequentially assigned to 1, 2,
and so on from a smaller alarm number.
Example) If overload (86) and emergency stop (C1) occur, the alarm occurrence numbers are assigned as follows.
Alarm occurrence number 1 = 86 (overload)
Alarm occurrence number 2 = C1 (emergency stop)
Communication example
Transmission
Response
@?ALM1.1 c/r l/f
Reads the alarm information.
ALM1.1=86 c/r l/f
Receives the data. Alarm number 86: Overload error is occurring.
OK.1 c/r l/f
Normal end
@?WARN1.1 c/r l/f
Reads the warning information.
OK.1 c/r l/f
B-20
Normal end (No warning occurs.)
Daisy Chain Guide
Contents
Introduction
C-1
1. Installation and wiring
C-2
1.1
Installation
C-2
1.2
Wiring
C-3
2. Node number setting
C-5
2.1
Automatic node number assignment function
C-5
2.1.1
2.1.2
When using the TS-Manager
When using the HT1
C-5
C-7
2.2
When controllers with same node number exist on network
C-8
2.2.1
2.2.2
When using the TS-Manager
When using the HT1
C-8
C-9
2.3
Switching the controllers
C-10
2.3.1
2.3.2
When using the TS-Manager
Switching the controllers using the HT1
C-10
C-12
3. Writing and transferring saved and newly made data C-13
3.1
Writing data to controller
C-13
3.2
Transferring data to controller
C-16
Introduction
The daisy chain function of the TS series controllers allows connection of up to 16 controllers in a daisy
chain. Data settings such as point data and parameter data for any desired controller in the daisy chain can
be set and the controller status monitored with a single computer or Handy Terminal.
This section explains the daisy chain function when used with the support software TS-Manager or HT1.
For details on the basic operations of the support software TS-Manager, refer to the TS-Manager manual and
its online help.
C
Daisy Chain Guide
C-1
1. Installation and wiring
1.1
C
w
Installation
Daisy Chain Guide
WARNING
• 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.
• Only the controller directly connected with the Handy Terminal can be emergency-stopped with the emergency stop button on the Handy Terminal. Make sure to install external emergency stop circuits because other controllers cannot be stopped with the emergency stop button on the Handy Terminal. (Refer to sections 9, "Configuring an emergency stop circuit TS-S TS-S2 TS-SH " and 10,
"Configuring an emergency stop TS-X TS-P " in Chapter 2 of the "Controller Guide".)
• Do not connect more than 16 controllers in a daisy chain.
This may cause unpredictable operation and incorrect communication.
System configuration diagram
Handy
Terminal
HT1
Personal Computer
TS-Manager
or
Controller
Controller
Controller
Controller
Communication
cable
Daisy
chain cable
Daisy
chain cable
Daisy chain cable
Daisy chain connection (up to 16 controllers)
23C01-M0-00
c
n
C-2
CAUTION
• The applicable controller software version for the daisy chain function is Ver.1.05.110 or later. The controllers with the earlier version software cannot utilize this function. Make sure to check the software version.
• The daisy chain function can be used with the HT1 with the software version 1.09 onwards.
• The daisy chain function cannot be used concurrently with the TS-Monitor (LCD monitor option) TS-X TS-P .
NOTE
For details about the installation of the controller, refer to the "Controller Guide", Chapter 2 "Installation and
wiring".
1.2
Wiring
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 minus one.
Also a computer with the TS-Manager software installed and one communication cable for connecting the
computer with the controller are required.
The following describes how to connect with your personal computer and how to make daisy chain connections.
w
NOTE
For details regarding the connection of personal computer and Handy Terminal, refer to section 5, "Connecting
the communication unit" in Chapter 2.
1 Connect the communication cable.
Connect the communication cable to the COM1 port on the controller that will be connected with the
computer.
Communication cable connection
COM1 port
TS-S, TS-S2,
TS-SH
TS-X, TS-P
Communication cable
23C02-M0-00
C-3
C
Daisy Chain Guide
n
WARNING
• Be sure to shut off the control power to the controller before connecting the controllers in a daisy chain. Failure to do so may cause the robot to start running, resulting in a serious accident or even death.
• The daisy chain cable is a dedicated cable for connecting controllers in a daisy chain. So, do not use the daisy chain cable for other equipment. This may cause equipment failure.
• Make sure each connector is facing correctly and insert it straight inwards.
• Take appropriate measures so that the metallic part of the connector is not in contact with the external power terminal. Failure to do so may cause heating, fire, or explosion.
• Make sure there are no metallic objects such as pins or needles making connect between the connector pins. These might cause heat, fire, or damage.
• Do not disassemble, modify or make a direct solder connection since this might cause heat, fire, or damage.
• Do not let water or moisture get on the unit. Do not touch the connector with moist hands since this might cause electrical shocks.
• Do not apply strong impacts to the unit since this might cause breakdowns.
• When inserting or removing the connector grip it by the connector body. Do not pull on the cable since this might cause wire breakage or connection defects.
• If the cable becomes worn or damaged then promptly stop using it and ask for repair at the dealer where you purchased or contact our sales office.
• Do not place heavy items on the cable or forcefully bend or pull on the cable since this might cause fires or breakdowns.
• Never connect to any equipment other than the specified model since this might damage the internal IC.
• If you notice smoke or a strange odor then remove the cable, stop using the equipment, and ask for repair at the dealer where you purchased or contact our sales office.
c
C
CAUTION
• 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.
• Do not modify the communication cable. This can cause communication errors and equipment failure.
• Always grasp the connector body when connecting/disconnecting the communication cable at the controller.
Pulling on the cable can cause equipment failure or breaking of wire.
• An incorrectly inserted connector or poor contact condition can cause malfunctions or equipment failure. Be sure that the connector is correctly and securely connected.
• When disconnecting the connector from the controller, pull the connector straight out to avoid bending the connector pins.
Daisy Chain Guide
2 Connect the daisy chain cable to the controller.
Insert the white connector of the daisy chain cable into the COM2 port on the controller to which you
connected the communication cable.
Connecting a daisy chain cable
COM2 port
TS-S, TS-S2,
TS-SH
TS-X, TS-P
Daisy chain cable
23C03-M0-00
3 Connect the controllers to each other in a daisy chain.
Insert the other end (black connector) of the daisy chain cable into the COM1 port on another
controller.
Two controllers are now daisy-chained. Up to 16 controllers can be daisy-chained in the same way.
Connecting controllers
23C04-M0-00
C-4
2. Node number setting
2.1
Automatic node number assignment function
Daisy-chained controllers can be distinguished from each other by being assigned a different "node number".
Node numbers can be set with the "Automatic node number assignment function" of the support software
TS-Manager or with the HT1. They can also be set using the "Automatic node number setting (SETID)"
communication command.
The following sections describe how to perform automatic node number assignment using the TS-Manager or
HT1.
c
n
WARNING
After you connect controllers in a daisy chain, be sure to perform automatic node number
assignment. Also be sure to do it when another controller is added after automatic node number
assignment has been performed.
If multiple controllers with the same node number exist on a network, data may not be exchanged
correctly. (Refer to section 2.2, "When controllers with same node number exist on network", in this
Daisy Chain Guide.)
CAUTION
• To use the TS-Manager, the TS-Manager software must be installed on your computer.
• The daisy chain function is not supported by the TS-Manager software with a version prior to 1.2.0. Always use the software with version 1.2.0 or later. If the TS-Manager with an earlier version is already installed on your computer, first uninstall it and then install new one.
NOTE
For details on the basic operations of the TS-Manager, refer to the TS-Manager manual and its online help.
2.1.1 When using the TS-Manager
To perform automatic node number assignment using the TS-Manager, follow the steps below.
1 Start the TS-Manager.
From the Windows [Start] button, select "Programs" – "TS-Manager" – "TS-Manager".
TIP
You can also double-click the "TS-Manager" icon on the desktop to start the TS-Manger.
TS-Manager icon
24C01-M0-00
2 Select "Automatic Node Number Assignment".
From the "Tool" menu in the main window, select "Automatic Node Number Assignment".
Selecting "Automatic Node Number Assignment"
Select.
24C02-M0-00
C-5
Daisy Chain Guide
w
C
3 Select the COM port.
Select the COM port to which the communication cable is connected, and click the [OK] button.
A confirmation message appears asking whether to start automatic node number assignment.
"Automatic Node Number Assignment" screen
C
Daisy Chain Guide
Click.
24C03-M0-00
4 Start automatic node number assignment.
Check the confirmation message and click the [OK] button to start automatic node number assignment.
Confirmation message for starting automatic node number assignment
Click.
24C04-M0-00
5 Check the assigned node numbers.
When the message appears stating that the automatic node number assignment is completed, check
the assigned node numbers.
The figures on the left side show the node numbers and the letters on the right mean the controller
model names set for each node number.
Click the [OK] button after checking the message.
"Automatic node number assignment completed" message
Node numbers after assignment
Controller model names
Click.
24C05-M0-00
n
C-6
NOTE
The node numbers will be assigned to the controllers from "1" in order starting from the controller nearest the
computer.
2.1.2 When using the HT1
To perform automatic node number assignment using the HT1, follow the steps below.
1 Select "Connection".
Step 1
On the HT1 menu screen, select
"Connection".
The Connection screen appears.
NRM [01]
MENU
Point
Operation
Parameter
Monitor
Run mode
Connection
Terminal
24C29-M0-00
2 Select "Auto Node Set".
On the Connection screen, press FUNC to
display the Function menu, check that the
C
.
24C30-M0-00
3 Perform automatic node number
Step 2
assignment.
Connection
No.
Cont.
01: *TS-X-20A
02:
03:
04:
05:
06:
07:
08:
When the message "Set OK?" appears, move
the cursor to "Yes" and press
Connection screen and Function menu
.
24C32-M0-00
4 Check the assigned node numbers.
The message "OK" appears when automatic
node number assignment is finished
normally. Check the assigned node
numbers.
No.
09:
10:
11:
12:
13:
14:
15:
16:
NRM [01]
Cont.
Connection
NRM [01]
No.
Cont.
No.
Cont.
Function
01: *TS-X-20A
09:
Auto Node
Set
02:
10:
03:
11:
04:
12:
05:
13:
06:
14:
07:
15:
08:
16:
24C33-M0-00
Step 3
Node number setting
Connection
NRM [01]
No.
Cont.
No.
Cont.
01: *TS-X-20A
09: Set
Auto Node
02:
Set OK? 10:
03:
11:
04:
12:
05:
13:
Yes
06:
No14:
07:
15:
08:
16:
Step 4
Assigned node numbers
Connection
No.
Cont.
01: *TS-X-20A
02: TS-X-05A
03: TS-X-05A
04: TS-X-20A
05: TS-X-05A
06: TS-X-10A
07: TS-P-20A
08: TS-P-10A
No.
09:
10:
11:
12:
13:
14:
15:
16:
NRM [01]
Cont.
TS-S
TS-S
TS-S
TS-S
TS-S
C-7
Daisy Chain Guide
cursor is on "Auto Node Set, and press
Main menu screen
2.2
When controllers with same node number exist on network
2.2.1 When using the TS-Manager
If controllers having the same node number are connected in a daisy chain, a warning message appears when
you try to connect a computer with the controllers. (See below.)
In this case, perform automatic node number assignment by following the message.
C
Node number overlap warning message
Daisy Chain Guide
24C07-M0-00
1 Perform automatic node number assignment.
Click the [OK] button in to perform automatic node number assignment.
Confirmation message for starting automatic node number assignment
Click.
24C34-M0-00
2 Check the assigned node numbers.
When the message appears stating that the automatic node number assignment is completed, check
the assigned node numbers.
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.
Click the [OK] button after checking the message.
"Automatic node number assignment completed" message
Node numbers after assignment
Controller model names
Click.
24C08-M0-00
C-8
2.2.2 When using the HT1
If controllers having the same node number are connected in a daisy chain, an error message appears on the
HT1 screen stating that there exist controllers with the same node number. In this case, perform automatic
node number assignment as described below.
Error message stating controllers with the same node number exist
C
Error
Controller node
is duplicated.
TIP
Node number overlap is checked when the HT1 is connected to a controller, the controller power is turned on, or
the displayed page on the HT1 is switched. An error massage appears if an overlap is detected.
1 Check the error message.
Check the error message and press
.
Step 1
Check error message
24C36-M0-00
Error
Controller node
is duplicated.
2 Perform automatic node number
assignment.
When the message "Set OK?" appears, place
the cursor on "Yes" and press
.
24C37-M0-00
3 Select the controller.
When automatic node assignment is
finished, the "Connection" screen appears.
Move the cursor to the controller you want
to connect and press
Step 2
Connection
NRM [01]
No.
Cont.
No.
Cont.
01: *TS-X-20A
09: Set
Auto Node
02:
Set OK? 10:
03:
11:
04:
12:
05:
13:
Yes
06:
No14:
07:
15:
08:
16:
.
24C38-M0-00
4 Check that the selected controller
is connected.
When the selected controller is connected,
an asterisk (*) appears to the left of the
controller name and the node number for
the controller is displayed in brackets [ ] on
the upper right.
Press CLR
Node number setting
Step 3
Assigned node numbers
Connection
No.
Cont.
01: TS-X-20A
02: TS-X-05A
03: TS-X-05A
04: TS-X-20A
05: TS-X-05A
06: TS-X-10A
07: TS-P-20A
08: TS-P-10A
to return to the menu screen.
24C39-M0-00
Step 4
No.
09:
10:
11:
12:
13:
14:
15:
16:
NRM [00]
Cont.
TS-S
TS-S
TS-S
TS-S
TS-S
Selected controller and node number
Node number
Asterisk
Connection
No.
Cont.
01: TS-X-20A
02: *TS-X-05A
03: TS-X-05A
04: TS-X-20A
05: TS-X-05A
06: TS-X-10A
07: TS-P-20A
08: TS-P-10A
No.
09:
10:
11:
12:
13:
14:
15:
16:
NRM [02]
Cont.
TS-S
TS-S
TS-S
TS-S
TS-S
C-9
Daisy Chain Guide
24C35-M0-00
2.3
Switching the controllers
You can check and edit the information of the daisy-chained controllers from the TS-Manager or from the HT1.
2.3.1 When using the TS-Manager
1 From the "File" menu, select "New" – "Connection...".
The "New Connection" dialog box then appears.
C
TIP
You can also click the
(New Connection) button on the toolbar.
2 Select the COM port.
Daisy Chain Guide
Select the COM port to which the controllers are connected and click the [OK] button.
3 Click the "Switch Controller" button on the toolbar.
The "Switch Controller" window appears.
"Switch Controller" button on toolbar
Click.
24C10-M0-00
TIP
You can use the right-click menu to display the "Switch Controller" window.
1. Right-click the controller name on the controller tree.
2. Click "Switch Controller" on the displayed menu.
(See below.)
"Switch Controller" menu
Right-click.
Click.
24C43-M0-00
C-10
4 Select the controller.
Select the controller you want to connect and then click the [OK] button.
If not all controllers are displayed, click the [Research] button.
n
NOTE
If controllers having the same node number are found when "Research" is performed, a message screen appears
asking whether to execute automatic node number assignment. Clicking the [OK] button on that screen will start
automatic node number assignment. If you do not require automatic node number assignment, click the
[Cancel] button.
C
"Switch Controller" window
Daisy Chain Guide
Click.
Select controller (node number 3 in this example).
24C11-M0-00
5 Check the node number.
The node number of the selected controller appears next to the controller model name on the controller
tree.
Controller tree showing selected controller
Check node number
Changed to node number 3.
24C12-M0-00
C-11
2.3.2 Switching the controllers using the HT1
To switch the controllers using the HT1, follow the steps below.
1 Select "Connection".
On the HT1 menu screen, select
"Connection". A list of daisy-chained
controllers is then displayed.
C
Step 1
Main menu screen
NRM [01]
MENU
Point
Operation
Parameter
Monitor
Run mode
Connection
Terminal
24C40-M0-00
2 Select the controller you want to
connect.
Move the cursor to the controller you want
Daisy Chain Guide
to connect and press
.
24C41-M0-00
Step 2
3 Check that the selected controller
Connection
No.
Cont.
01: *TS-X-20A
02: TS-X-05A
03: TS-X-05A
04: TS-X-20A
05: TS-X-05A
06: TS-X-10A
07: TS-P-20A
08: TS-P-10A
is connected.
When the selected controller is connected,
an asterisk (*) appears to the left of the
controller name and the node number for
the controller is displayed in brackets [ ] on
the upper right.
Press CLR
to return to the menu screen.
24C42-M0-00
Controller list
Step 3
No.
09:
10:
11:
12:
13:
14:
15:
16:
NRM [01]
Cont.
TS-S
TS-S
TS-S
TS-S
TS-S
Selected controller and node number
Node number
Asterisk
C-12
Connection
No.
Cont.
01: TS-X-20A
02: *TS-X-05A
03: TS-X-05A
04: TS-X-20A
05: TS-X-05A
06: TS-X-10A
07: TS-P-20A
08: TS-P-10A
No.
09:
10:
11:
12:
13:
14:
15:
16:
NRM [02]
Cont.
TS-S
TS-S
TS-S
TS-S
TS-S
3. Writing and transferring saved and newly made data
This section describes how to write or transfer data from the computer to a daisy-chained controller.
c
CAUTION
The daisy chain function cannot be used concurrently with the TS-Monitor (LCD monitor option) TS-X TS-P . If the
backup data with the LCD setting enabled is written, the communication may not be performed properly. If there
is a possibility that such data was written by mistake, perform automatic node number assignment again to
disable the LCD setting.
NOTE
• If a computer and a controller have already been connected, transfer and writing of data will be made to the currently connected controller.
• For details on how to write and transfer data to the controller, refer to the support software TS-Manager manual.
3.1
Writing data to controller
1 Select "Write Data to Controller...".
The "Write Data to Controller" dialog box appears.
TIP
You can also click the
[Write] button on the toolbar.
Writing data to controller
Select.
24C13-M0-00
2 Select the COM port.
Select the COM port to connect to the controller and click the [OK] button.
"Write Data to Controller" window
Select.
Click.
24C14-M0-00
C-13
Daisy Chain Guide
n
C
3 Select the controller where you want to transfer data.
In the "Node Select" window, select the controller where you want to transfer data and click the [OK]
button.
If not all controllers are displayed, click the [Research] button.
"Node Select" window
C
Click.
Daisy Chain Guide
Select controller (node number 5 in this example).
24C15-M0-00
n
NOTE
If controllers having the same node number are found when "Research" is performed, a message screen appears
asking whether to execute automatic node number assignment. Clicking the [OK] button on that screen will start
automatic node number assignment. If you do not require automatic node number assignment, click the
[Cancel] button.
If the robot name set in the data to be transferred to the controller does not match the robot name
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.
Transfer confirmation message due to robot name mismatch
Click [Yes] to transfer data.
24C16-M0-00
c
C-14
CAUTION
If the above confirmation message appears, check whether the robot name currently used is the same as that to
be displayed as the transfer destination. Please note that if they don't have the same name, clicking the [Yes]
button may affect the operation.
4 Write the data.
When a confirmation message appears asking whether to write the data to the selected controller,
check the data name and the target controller, and click the [OK] button to start writing the data.
If you want to cancel writing the data, click the [Cancel] button.
Confirmation message
C
24C17-M0-00
5 Check that the data has been written.
When the message appears stating the data writing has been completed, click the [OK] button.
The data will be usable after turning the control power off and then back it on again. (Restarting the
control power may not be necessary depending on the parameters to be written.)
"Writing completed" message
Click.
24C18-M0-00
C-15
Daisy Chain Guide
Click.
3.2
Transferring data to controller
1 Select the "PC to Controller…" command.
Transferring data to controller
C
Daisy Chain Guide
Select.
24C19-M0-00
2 Select the file you want to transfer.
When the "Data Transfer [PC to Controller]" window appears, click the […] button next to the "File Name"
box.
The "Open" dialog box then appears. Select the file to transfer and click the [Open] button. The
selected data file name is then displayed in the "File Name" box.
"Data Transfer [PC to Controller]" window
Click.
Select file.
Click.
Selected data file name.
24C20-M0-00
C-16
3 Select the COM port to connect to the controller.
To transfer data to a currently connected controller, select the "COM port (in use)" (See below.).
When you want to transfer data to a controller other than the currently connected one, either
disconnect the connection or change the node number by performing "Switch Controller" first, and then
execute data transfer again.
Select the "COM port (in use)", and click the [OK] button.
"Data Transfer [PC to Controller]" window
C
Click.
24C22-M0-00
4 Select the node number.
If the "Node Select" window appears, select the controller where you want to transfer the data and click
the [OK] button.
If not all controllers are displayed, click the [Research] button.
"Node Select" window
Click.
Select controller (node number 5 in this example).
24C23-M0-00
n
NOTE
If controllers having the same node number are found when "Research" is performed, a message screen appears
asking whether to execute automatic node number assignment. Clicking the [OK] button on that screen will start
automatic node number assignment. If you do not require automatic node number assignment, click the
[Cancel] button.
C-17
Daisy Chain Guide
Select COM port
(to transfer data to currently
selected controller).
If the robot name set in the data to be transferred to the controller does not match the robot name
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.
Transfer confirmation message due to robot name mismatch
C
Daisy Chain Guide
Click [Yes] to transfer data.
24C24-M0-00
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CAUTION
Please note that clicking the [Yes] button in the transfer confirmation message may affect the operation.
If the controller information in the data to be transferred does not match the controller name currently
at the transfer destination, an error message appears and the data transfer will be canceled. Check the
setting and then transfer the data again.
"Data transfer cancelled" message due to controller name mismatch
Click.
24C25-M0-00
5 Perform data transfer.
When a confirmation message appears asking whether to change the Run Mode to the Debug Mode.
Click the [Yes] button to perform data transfer.
Mode change (Normal Mode to Debug Mode) confirmation dialog box
Click.
24C26-M0-00
C-18
Another message appears asking whether to start data transfer. Check the data name and target
controller, and click the [OK] button to start data transfer.
To cancel data transfer, click the [Cancel] button.
"Data transfer confirmation" message
C
24C27-M0-00
6 Check that the data has been transferred.
When the message appears stating the data transfer has been completed, click the [OK] button.
The data will be usable after turning the control power off and back it on again. (Restarting the control
power may not be necessary depending on the parameters to be written.)
"Data transfer completed" message
Click.
24C28-M0-00
C-19
Daisy Chain Guide
Click.
Gateway Function Guide
Contents
Introduction
D-1
1. Installation and wiring
D-2
1.1
Installation
D-2
1.2
Wiring
D-2
2. Initial setting
D-3
2.1
Node number setting
D-3
2.2
Enable setting
D-3
3. I/O inter face specifications
D-4
3.1
Configuration
D-4
3.2
CC-Link type
D-5
3.3
EtherNet/IP type
D-6
4. Data setting and operation
D-7
4.1
Restrictions on gateway function
D-7
4.2
Data setting
D-7
4.3
Operation
D-7
Introduction
The gateway function of the TS series controller is that one controller incorporating the field network option
plays a role of the gateway to collectively control multiple controllers through the daisy chain connection.
Up to four controllers can be connected.
c
CAUTION
• The gateway connection function is available from controller's software version V1.12.128 onwards.
• The target network of the gateway function is CC-Link and EtherNet/IP.
D
Gateway Function Guide
D-1
1. Installation and wiring
1.1
Installation
System configuration diagram
Controller #1
(Gateway)
D
Controller
#2
Controller
#3
Controller
#4
Host unit
(Applicable to field network)
Gateway Function Guide
Daisy
chain
connection
cable
Daisy
chain
connection
cable
Daisy
chain
connection
cable
Field network
Daisy chain connection (up to four controllers)
23D01-M0-00
1.2
Wiring
For the daisy chain connection among the controllers, use the daisy chain connection cable (300 mm)
specified by YAMAHA. Daisy chain connection cables are required, the number of which is equivalent to (the
number of controllers to be connected – 1).
Name
Daisy chain connection cable (300 mm)
Model
KCA-M532L-00
* For the connection between the host unit and field network, see the section, “Connecting the I/O unit”, in the
Controller Guide.
* For the configuration of a safety circuit including an emergency stop, see the sections, “Installation and wiring” and
“Configuring an emergency stop circuit”, in the Controller Guide.
D-2
2. Initial setting
This section describes the initial setting to enable the gateway function.
2.1
Node number setting
When connecting the gateway, set node numbers for the controllers to be connected. Set node number “1” for
the controller that becomes the top of the gateway, and then node numbers “2”, “3”, and “4” for subsequent
controllers in order.
Node number setting
Node number 1
(Gateway)
Node number 2
Node number 3
Node number 4
Daisy
chain
connection
cable
Daisy
chain
connection
cable
Daisy
chain
connection
cable
Field network
Daisy chain connection (up to four controllers)
23D02-M0-00
Set node numbers using K38 (Node). There are two kinds of setting methods. One is that K38 is edited directly
and the other is “automatic node number setting” that automatically assigns node numbers to K38 in the
controller arrangement order.
For details about automatic node number setting, see the section, “Node number setting”, in the Daisy Chain
Guide.
K38
Setting range
Default
Units
Restart
1 to 4
1
-
-
Node (controller)
Function
Specifies the node number.
2.2
Enable setting
Be sure to set the gateway function enabled after setting node numbers. When K80 (Option enable) of all
controllers to be connected is set to “2” (gateway), the gateway function is then enabled.
c
CAUTION
• The gateway function enable setting is available from TS-Manager software version V1.4.1 onwards.
• The gateway function enable setting is available from HT1 software version V1.15 onwards.
K80
Setting range
Default
Units
Restart
0 to 2
1
-
-
Option enable
Specifies the I/O enable/disable setting.
Setting value
Description
0
Disable
1
Enable
2
Enable (Gateway)
D-3
Gateway Function Guide
Host unit
(Applicable to field network)
D
3. I/O interface specifications
This section describes the I/O interface specifications of the gateway function.
3.1
D
Configuration
In the gateway connections, the first controller (gateway) with the field network option installed has I/O
interfaces for this controller and daisy-chained controllers to distribute the input/output information to other
daisy-chained controllers.
Therefore, each I/O interface is identical to that of the single controller without connecting the gateway when
viewed from the host unit. So, the same control as that used when multiple controllers are connected can be
performed through the field network.
Multiple controllers are connected through the field network.
Gateway Function Guide
Controller #1
Controller #2
Controller #3
Controller #4
Host unit
(Applicable to field network)
I/O #1
I/O #2
I/O #3
I/O #4
Field network
23D03-M0-00
Gateway connections
Controller #1
Controller #2
Controller #3
Controller #4
Host unit
(Applicable to field network)
I/O #1
I/O #2
Field network
I/O #3
I/O #4
23D04-M0-00
c
D-4
CAUTION
The setting file prepared for the field network is different from that used when the single controller without
connecting the gateway is operated individually.
3.2
CC-Link type
This CC-Link type operates as a remote device station of the CC-Link and occupies four stations.
c
CAUTION
Even when the number of connection units is less than 4, the number of stations to be occupied remains
unchanged. The area without connection destinations becomes the reserved area.
■ ■ Remote input/output (bit input/output)
Input (master → remote)
Output (remote → master)
Signal name
No.
Signal name
RYn
Bit input (#1)
RXn
Bit input (#1)
RY(n+1)
(Reserved area)
RX(n+1)
(Reserved area)
RY(n+2)
Bit input (#2)
RX(n+2)
Bit output (#2)
RY(n+3)
(Reserved area)
RX(n+3)
(Reserved area)
RY(n+4)
Bit input (#3)
RX(n+4)
Bit output (#3)
RY(n+5)
(Reserved area)
RX(n+5)
(Reserved area)
RY(n+6)
Bit input (#4)
RX(n+6)
Bit output (#4)
RY(n+7)
(Reserved area)
RX(n+7)
System area
D
n: Value determined by the node number setting.
* Reserved areas are not used currently.
* For the system area of RX (n+7), RX (n+7)B is arranged as R-RDY (remote READY).
■ ■ Remote register (word input/output)
Input (master → remote)
Output (remote → master)
Address
Signal name
Address
Signal name
RWwn-(n+3)
Word input (#1)
RWrn-(n+3)
Word output (#1)
RWw(n+4)-(n+7)
Word input (#2)
RWr(n+4)-(n+7)
Word output (#2)
RWw(n+8)-(n+B)
Word input (#3)
RWr(n+8)-(n+B)
Word output (#3)
RWw(n+C)-(n+F)
Word input (#4)
RWr(n+C)-(n+F)
Word output (#4)
n: Value determined by the node number setting.
The bit input/output and word input/output signals and functions are identical to those of the normal field
network. For details, see the section, “I/O signal functions”, in the Controller Guide.
D-5
Gateway Function Guide
No.
3.3
EtherNet/IP type
This EtherNet/IP type operates as an EtherNet IP adapter, and both the input and output occupy 24 channels.
c
CAUTION
Even when the number of connection units is less than 4, the number of channels to be occupied remains
unchanged. The area without connection destinations becomes the reserved area.
Input (master → remote)
Channel No.
D
Signal name
m
to m+1
Bit input (#1)
m+2
to m+5
m+6
m+8
Output (remote → master)
Channel No.
Signal name
n
to n+1
Bit output (#1)
Word input (#1)
n+2
to n+5
Word output (#1)
to m+7
Bit input (#2)
n+6
to n+7
Bit output (#2)
to m+11
Word input (#2)
n+8
to n+11
Word output (#2)
Gateway Function Guide
m+12 to m+13
Bit input (#3)
n+12 to n+13
Bit output (#3)
m+14 to m+17
Word input (#3)
n+14 to n+17
Word output (#3)
m+18 to m+19
Bit input (#4)
n+18 to n+19
Bit output (#4)
m+20 to m+23
Word input (#4)
n+20 to n+23
Word output (#4)
m,n: Value determined by the node number setting.
The bit input/output and word input/output signals and functions are identical to those of the normal field
network. For details, see the section, “I/O signal functions”, in the Controller Guide.
D-6
4. Data setting and operation
This section describes the data setting, operation, and restrictions about the gateway function.
4.1
Restrictions on gateway function
To use the gateway function, there are restrictions shown below.
• Continuous quer y
When the gateway function is enabled, the continuous query (0x8100) cannot be accepted.
“02: Data error” occurs and “0x4002” is output to the status.
• Real-time trace function (TS-Manager)
When the gateway function is enabled, the real-time trace function that is built-into the TS-Manager cannot be used.
• TS-Monitor TS-X
TS-P
D
When the gateway is connected, the TS-Monitor cannot be connected to the controller.
Data setting
When using the gateway function, set the data to the controllers by changing to the setting target controller
through the controller at the top. The data setting is identical to that of the daisy chain connection. For details,
see the section, “Writing and transferring saved and newly made data”, in the Daisy Chain Guide.
c
CAUTION
• The data setting for the gateway function is available from TS-Manager software version V1.4.1 onwards.
• The data setting for the gateway function is available from HT1 software version V1.15 onwards.
4.3
Operation
How to operate the controllers connected with the gateway function is identical to that of the normal field
network except for some restrictions.
For details, see the section, “Operation”, in the Controller Guide.
D-7
Gateway Function Guide
4.2
Revision record
Manual version Issue date
Description
Ver. 1.00
Dec. 2011
First edition
Ver. 2.00
Apr. 2013
The name of the "TS Series" User's Manual was changed.
TS-S2 was added. The Chapter 3 "1.2 Data system-of-units"
section was added. The Chapter 5 "5.9 Continuous query (CCLink)" section was added. The Chapter 7 "1.2 List of controlled
robots" section was added. Other minor revisions were also made.
Ver. 2.01
Jul. 2013
Cautions were added to the daisy chain connection circuit.
The EtherNet/IP specifications were added. The limitless rotation
function was added, etc.
Ver. 2.02
Jan. 2014
Circuit diagram shown in the power supply connection example
stated in "3.2 Power supply connection" of Chapter 2 was
corrected. Consumption current value was added to "Power
supply connector terminal names and functions" of "3.2 Power
supply connection".
"5.10 Positioning operation" and "5.11 Special codes" were
added to Chapter 5.
The commands related to the positioning operation and the
status clear (continuous query continuation) (WIN0=8000h) were
added to "5.2 Remote command list", and the parameters were
added to the parameter writing and parameter reading.
Additionally, the parameters were added to the command type
and data of "5.7 Parameter data writing" and the command type
and response data of "5.8 Parameter data reading". The direct
position designation positioning operation was added to the
positioning operation (START) in the Communication Command
Guide, etc.
Ver. 2.03
May 2014
CAUTION sentence was added to “5. Connecting the
communication unit” in Chapter 2. Gateway Function Guide
was added. Specifications about TS-SH were added. EDS file
name was described in “2.5 EtherNet/IP” of Chapter 7. Direct
positioning command was additionally described in “1.1 Basic
specifications” of Chapter 7, etc.
User's Manual
Single-axis Robot Controller
TS Series
May 2014
Ver. 2.03
This manual is based on Ver. 2.03 of Japanese manual.
YAMAHA MOTOR CO., LTD. IM Operations
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. If you find any part unclear in this manual,
please contact your distributor.
IM Operations
882 Soude, Nakaku, Hamamatsu, Shizuoka, 435-0054, Japan
Tel. 81-53-460-6103 Fax. 81-53-460-6811
Robot manuals can be downloaded from our company website.
Please use the following for more detailed information.
http://global.yamaha-motor.com/business/robot/
YAMAHA MOTOR CO., LTD.
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