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Yamaha TS-P Manuals
Manuals and User Guides for Yamaha TS-P. We have
2
Yamaha TS-P manuals available for free PDF download: User Manual
Yamaha TS-P User Manual (286 pages)
YAMAHA SINGLE-AXIS ROBOT CONTROLLER TS SERIES
Brand:
Yamaha
| Category:
Controller
| Size: 8.4 MB
Table of Contents
Table of Contents
3
Table of Contents
10
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
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
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
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-P User Manual (264 pages)
YAMAHA SINGLE-AXIS ROBOT CONTROLLER
Brand:
Yamaha
| Category:
Controller
| Size: 8.82 MB
Table of Contents
Table of Contents
19
Chapter 1 Overview
27
Unpacking Check
27
Part Names and Functions
27
System Configuration
29
Installation and Operation Sequence
30
Installation Method
33
Controller Main Body
33
Regenerative Unit (RGT)
34
Regenerative Unit (RGU-2)
34
Installation Conditions
35
Chapter 2 Wiring
36
Power Supply Connection
36
Malfunction Prevention Measures
39
Connecting the Robot
40
Connecting the Communication Unit
42
Connecting the Regenerative Unit
45
Connecting the RGT
45
Connecting the RGU-2
46
Connecting the I/O Signals
47
Connecting the EXT Connector
48
EXT Connector Wiring
48
EXT Connector Signal Names and Functions
49
Circuit Details
51
Connecting the I/O Unit
53
Safety Circuit Construction Example
58
Performance Level
58
Circuit Configuration Examples
59
Chapter 3 Data Setting
67
Data Overview
67
Point Data
68
Standard Setting" Type
69
Custom Setting" Type
70
Point Data Details
71
Parameter Data
75
Parameter List
75
Parameter Details
78
Chapter 4 I/O Signal Functions
87
I/O Specifications
87
I/O Specifications 1 (NPN and PNP Type)
87
I/O Specifications 2 (CC-Link Type)
88
I/O Specifications 3 (Devicenet Type)
90
I/O Signal List
92
I/O Signal Details
93
Input Signal Details
93
Output Signal Details
95
Chapter 5 Operation
99
Operation Procedure
99
Overall Operation Timing Chart
99
Alarm Occurrence and Clearing
101
Origin Search (Return-To-Origin)
102
Origin Point Detection Method
102
Origin Point and Coordinates Relationship
105
Return-To-Origin Timing Chart
106
Positioning Operation
107
Basic Operation
107
Positioning Timing Chart
111
Positioning Merge Operation
113
Push Operation
115
Deceleration Push Operation
117
Continuous Operation
118
Output Function
119
Speed Switch Function
120
Operation Examples
121
MANUAL Mode
124
MANUAL Mode Timing Chart
124
JOG Movement
125
TEACH (Teaching)
126
Remote Commands
127
Overview
127
Remote Command List
127
Timing Chart
130
Query
131
Point Data Writing
132
Point Data Reading
133
Parameter Data Writing
134
Parameter Data Reading
135
Operation Modes
136
Other Functions
137
Soft Limit Function
137
Zone Output Function
137
Alarm No. Output Function
138
Changing the Payload
138
Magnetic Pole Position Estimation
139
LED Status Indicators
139
TS-Monitor (Option)
140
Opening or Closing the TS-Monitor
140
Changing the Screen
141
Screen Configuration and Meaning
142
Screen Color in Case of Alarm
147
SETUP Screen
147
Chapter 6 Troubleshooting
149
Alarm Groups
151
Alarm Recording Function
151
Alarm List
152
Alarms: Possible Causes and Actions
153
Chapter 7 Specifications
159
TS-P Specifications
159
Basic Specifications
159
Dimensional Outlines
160
TS-P Specifications
160
I/O Interface Specifications
161
Npn
161
Pnp
161
CC-Link
161
Devicenet
162
TS-Monitor Specifications
163
Basic Specifications
163
Dimensional Outlines (TS-P with TS-Monitor)
163
Regenerative Unit Specifications
165
Dimensional Outlines (RGT)
165
Dimensional Outlines (RGU-2)
165
HT1 Operation Guide
167
Introduction
169
What the HT1 Does
170
HT1 Panel Layout
171
Connecting to the External Safety Circuit (HT1-D
173
Connecting or Disconnecting the HT1
175
Connecting to the Controller
175
Disconnecting from the Controller
177
Basic Operations
178
Operation Key Layout and Functions
178
Screen Configuration
179
Starting to Use the Keys
181
How to Enter Numbers
185
Menu Structure
186
Editing the Point Data
187
Point Teaching
187
Teaching Playback
187
Direct Teaching
190
Copying Point Data
191
Deleting Point Data
192
Displaying a List of Point Data
193
Parameter Setting
194
Setting Run Parameters
194
Setting I/O Parameters
196
Setting Option Parameters
197
Setting Servo Parameters
198
Operating the Robot
199
Turning the Servo on or off
199
Origin Search (Return-To-Origin
200
Operating the Robot
202
Resetting an Alarm
204
Monitor Functions
205
Status Monitor
206
Run Monitor
207
Alarm Display
208
Warning Display
209
Message Display
210
Alarm Record Display
211
Information Display
212
Other Functions
213
Operation Mode
213
Setting Mode
214
Changing the Display Language
214
Specifications
215
Basic Specifications
215
Dimensional Outlines 9.2.1 HT1
215
Ht1-D
216
Communication Command Guide
217
Introduction
219
Communication Specifications
220
Communication Parameter Specifications
220
Communication Command Specifications
220
Communication Command Lists
221
Communication Command Description
223
Robot Operation Commands
223
Positioning Operation (START
223
Operation Stop (STOP
223
Return-To-Origin (ORG
224
JOG Movement (JOG+, JOG
224
Inching Movement (INCH+, INCH
225
Status Change Commands
226
Servo Status Change (SRVO
226
Brake Status Change (BRK
226
Reset (RESET
226
Edit Commands
227
Point Data Writing 1 (M, P, S, AC, DC, Q, ZL, ZH, N, J, F, T
227
Point Data Writing 2 (P_, S_, AC_, DC_, Q
228
Current Position Teaching (TEACH
229
Point Data Copying (COPY
229
Point Data Deleting (del
230
Parameter Data Writing (K
230
Automatic Node Number Setting (SETID
231
Query Commands
232
Point Data Reading (?M, ?P, ?S, ?AC, ?DC, ?Q, ?ZL, ?ZH, ?N, ?J, ?F, ?T
232
Parameter Data Reading (?K
233
Status Data Reading (?D
234
Input/Output Information Reading (?IN, ?INB, ?OUT, ?OUTB
235
Word Input/Output Information Reading (?WIN, ?WOUT
236
Option Information Reading (?OPT, ?OPTB
237
Alarm/Warning Information Reading (?ALM, ?WARN
238
Daisy Chain Guide
241
Installation and Wiring
242
Installation
242
Wiring
243
Node Number Setting
246
Automatic Node Number Assignment Function
246
Performing Automatic Node Number Assignment
246
When Controllers with same Node Number Exist on Network
248
Switching of Controllers
250
Writing and Transferring Saved and Newly Made Data
252
Writing Data to Controller
252
Transferring Data to Controller
255
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