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Yamaha TS-S - User Manual
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TS Series
UserʼsManual
TS-S/T
S-S2/T
S-SH/TS-X/TS-P
Y
AMAH
ASI
NGLE
-A
XISR
OB
O
TCONTR
OLL
E
R
V
er
. 2.04
EPM0159204
E119
2
Table of Contents
Main Page
Table of Contents
3
Table of Contents
10
Default Chapter
13
Important Information before Reading this Manual
13
Introduction
13
Introduction
15
Main Functions
16
About this Manual
17
Safety Alert Symbols and Signal Words
18
CE Marking
19
Safety Measures
19
Safety Standard
19
EMC Countermeasure Example
20
Robot Safety Measures
20
Safety Cautions
23
Warranty
26
Chapter 1 Overview
27
Unpacking Check
29
Part Names and Functions
30
System Configuration
33
Installation and Operation Sequence
34
Chapter 2 Installation and Wiring
34
Installation Method
37
Controller Main Body
37
Ts-S Ts-S2 Ts-X Ts-P
37
Installation Screws
38
Ts-Sh
38
Regenerative Unit (RGT) TS-X TS-P
39
Regenerative Unit (RGU-2) TS-P
39
Installation Conditions
40
Wiring
41
Power Supply Connection
41
Power Supply Connection TS-S TS-S2 TS-SH
41
Power Supply Connection TS-X TS-P
43
Malfunction Prevention Measures TS-X TS-P
46
Connecting the Robot
47
Connecting the Communication Unit
49
Connecting The Regenerative Unit TS-X TS-P
51
Connecting the RGT
51
Connecting the RGU-2
52
Absolute Batter y TS-X TS-SH
53
Connecting the Absolute Battery
53
Replacing the Absolute Battery
54
Connecting the I/O Signals
55
Configuring an Emergency Stop Circuit TS-S TS-S2 TS-SH
56
Configuring an Emergency Stop Circuit TS-X TS-P
57
EXT Connector Signal Names and Functions
57
Wiring and Connecting the EXT Connector
59
Circuit Details
60
Connecting the I/O Unit
61
Safety Circuit Construction Example
65
Performance Level
65
Category
66
Circuit Configuration Examples TS-S TS-S2 TS-SH
66
Overview of Circuit Operation
67
Category
68
Circuit Configuration Examples TS-X TS-P
68
Overview of Circuit Operation
69
Chapter 3 Data Setting
71
Default Chapter
73
Data Overview
73
Data System-Of-Units
73
Overview
73
Point Data
74
Standard Setting" Type
75
Custom Setting" Type
76
Point Data Details
77
Parameter Data
81
Parameter List
81
RUN Parameters
81
I/O Parameters
82
Option Parameters
82
RUN Parameters
83
Servo Parameters
83
I/O Parameters
86
Servo Parameters
88
CC-Link
89
Option Parameters
89
Devicenet
90
Ethernet/Ip
90
Chapter 4 I/O Signal Functions
93
I/O Specifications
93
CC-Link Type
94
Devicenet Type
96
Ethernet/Ip Type
97
I/O Signal List
98
I/O Signal Details
99
Output Signal Details
101
Chapter 5 Operation
103
Default Chapter
105
Overall Operation Timing Chart
105
Ts-X
106
Ts-P
107
Communication Check (Field Network)
108
Alarm Occurrence and Clearing
109
Origin Point Detection Method Ts-S Ts-S2 Ts-X Ts-Sh
110
Origin Search (Return-To-Origin)
110
Origin Point Detection Method Ts-P
111
Origin Point and Coordinates Relationship
114
Return-To-Origin Timing Chart
114
Basic Operation
115
Positioning Operation
115
Positioning Timing Chart
118
Positioning Merge Operation
120
Push Operation
122
Deceleration Push Operation
124
Continuous Operation
125
Output Function
126
Speed Switch Function
127
Limitless Rotation Function
128
Operation Examples
129
Manual Mode
132
Jog Movement
133
Teach (Teaching)
134
Overview
135
Remote Command List
135
Remote Commands
135
Timing Chart
139
Query
140
Point Data Writing
141
Point Data Reading
142
Parameter Data Writing
143
Parameter Data Reading
144
Continuous Query
145
Positioning Operation
146
Special Operations
148
Special Codes
149
Operation Modes
150
Other Functions
151
Alarm No. Output Function
152
Stop Mode TS-S TS-S2 TS-SH
153
LED Status Indicators
154
TS-Monitor (Option) TS-X TS-P
155
Changing the Screen
156
Screen Configuration and Meaning
157
Screen Color in Case of Alarm
161
SETUP Screen
162
Chapter 6 Troubleshooting
165
Alarm Groups
165
Alarm Recording Function
166
Alarm List
167
Alarms: Possible Causes and Actions
168
Chapter 7 Specifications
173
Basic Specifications
175
Controller Basic Specifications
175
Ts-S Ts-S2 Ts-Sh
175
Ts-X Ts-P
176
List of Controlled Robots
177
Dimensional Outlines
179
CC-Link
181
I/O Interface Specifications
181
Npn
181
Pnp
181
Devicenet
182
Ethernet/Ip
183
Basic Specifications
184
Dimensional Outlines (with Ts-Monitor Ts-X Ts-P )
184
TS-Monitor Specifications TS-X TS-P
184
Ts-P
184
Dimensional Outlines (Rgu-2)
186
Regenerative Unit Specifications
186
Ht1 Operation Guide
187
Default Chapter
189
Introduction
189
What the Ht1 Does
190
Ht1 Panel Layout
191
Connecting to the External Safety Circuit (Ht1-D
192
Connecting to the External Safety Circuit (HT1-D)
193
Connecting or Disconnecting the Ht1
194
Connecting to the Controller
194
Disconnecting from the Controller
195
Basic Operations
196
Operation Key Layout and Functions
196
Screen Configuration
197
Starting to Use the Keys
199
How to Enter Numbers
200
How to Enter Numbers
202
Menu Structure
203
Point Teaching
203
Editing the Point Data
204
Direct Teaching
206
Copying Point Data
207
Deleting Point Data
208
Displaying a List of Point Data
209
Parameter Setting
210
Setting Run Parameters
210
Setting I/O Parameters
211
Setting Option Parameters
212
Setting Servo Parameters
213
Operating the Robot
214
Origin Search (Return-To-Origin
214
Origin Search (Return-To-Origin)
215
Operating the Robot
216
Resetting an Alarm
218
I/O Monitor
219
Monitor Functions
219
Status Monitor
219
Status Monitor
220
Run Monitor
221
Alarm Display
222
Warning Display
222
Message Display
223
Alarm Record Display
224
Information Display
225
Operation Mode
226
Other Functions
226
Changing the Display Language
227
Setting Mode
227
Teaching Playback
204
Chapter 7 Specifications
228
Basic Specifications
228
Dimensional Outlines
228
Ht1
228
Ht1-D
229
Communication Command Guide
231
Introduction
233
Communication Command Specifications
234
Communication Parameter Specifications
234
Communication Specifications
234
Communication Command Lists
235
Communication Command Description
237
Operation Stop (STOP
237
Positioning Operation (START
237
Robot Operation Commands
237
JOG Movement (JOG+, JOG
238
Return-To-Origin (ORG
238
Inching Movement (INCH+, INCH
239
Brake Status Change (BRK
240
Reset (RESET
240
Servo Status Change (SRVO
240
Status Change Commands
240
Edit Commands
241
Point Data Writing 2 (P_, S_, AC_, DC_, Q
241
Point Data Writing 2 (P_, S_, AC_, DC_, Q_)
242
Current Position Teaching (TEACH
243
Point Data Copying (COPY
243
Parameter Data Writing (K
244
Point Data Deleting (del
244
Automatic Node Number Setting (SETID
245
Point Data Reading (?M, ?P, ?S, ?AC, ?DC, ?Q, ?ZL, ?ZH, ?N, ?J, ?F, ?T)
246
Query Commands
246
Parameter Data Reading (?K
247
Status Data Reading (?D)
248
Input/Output Information Reading (?IN, ?INB, ?OUT, ?OUTB)
249
Word Input/Output Information Reading (?WIN, ?WOUT)
250
Option Information Reading (?OPT, ?OPTB)
251
Alarm/Warning Information Reading (?ALM, ?WARN)
252
Daisy Chain Guide
253
Introduction
255
Installation
256
Installation and Wiring
256
Wiring
256
Wiring
257
Automatic Node Number Assignment Function
259
Node Number Setting
259
When Using the TS-Manager
259
When Using the HT1
261
When Controllers with same Node Number Exist on Network
262
When Using the TS-Manager
262
When Using the HT1
263
Switching the Controllers
264
When Using the TS-Manager
264
Switching the Controllers Using the HT1
266
Writing and Transferring Saved and Newly Made Data
267
Writing Data to Controller
267
Transferring Data to Controller
270
Introduction
277
Installation
278
Wiring
278
Initial Setting
279
Node Number Setting
279
Configuration
280
I/O Interface Specifications
280
CC-Link Type
281
Ethernet/Ip Type
282
Data Setting and Operation
283
Data Setting
283
Operation
283
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Yamaha TS-S Specifications
General
Aftertouch
No
Faders
No
Transport Controls
Yes
Pitch Bend
No
Modulation Wheel
No
Keys
No
Pedal Inputs
1
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