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TS-S
User manual
Yamaha TS-S User Manual
Yamaha single-axis robot controller ts series
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Contents
Table of Contents
Bookmarks
Table of Contents
Table of Contents
Table of Contents
Important Information before Reading this Manual
Introduction
Introduction
Main Functions
About this Manual
Safety Alert Symbols and Signal Words
CE Marking
Safety Measures
Safety Standard
EMC Countermeasure Example
Robot Safety Measures
Safety Cautions
Warranty
Chapter 1 Overview
Unpacking Check
Part Names and Functions
System Configuration
Installation and Operation Sequence
Chapter 2 Installation and Wiring
Installation Method
Controller Main Body
Ts-S Ts-S2 Ts-X Ts-P
Installation Screws
Ts-Sh
Regenerative Unit (RGT) TS-X TS-P
Regenerative Unit (RGU-2) TS-P
Installation Conditions
Wiring
Power Supply Connection
Power Supply Connection TS-S TS-S2 TS-SH
Power Supply Connection TS-X TS-P
Malfunction Prevention Measures TS-X TS-P
Connecting the Robot
Connecting the Communication Unit
Connecting The Regenerative Unit TS-X TS-P
Connecting the RGT
Connecting the RGU-2
Absolute Batter y TS-X TS-SH
Connecting the Absolute Battery
Replacing the Absolute Battery
Connecting the I/O Signals
Configuring an Emergency Stop Circuit TS-S TS-S2 TS-SH
Configuring an Emergency Stop Circuit TS-X TS-P
EXT Connector Signal Names and Functions
Wiring and Connecting the EXT Connector
Circuit Details
Connecting the I/O Unit
Safety Circuit Construction Example
Performance Level
Category
Circuit Configuration Examples TS-S TS-S2 TS-SH
Overview of Circuit Operation
Category
Circuit Configuration Examples TS-X TS-P
Overview of Circuit Operation
Chapter 3 Data Setting
Data Overview
Data System-Of-Units
Overview
Point Data
Standard Setting" Type
Custom Setting" Type
Point Data Details
Parameter Data
Parameter List
RUN Parameters
I/O Parameters
Option Parameters
RUN Parameters
Servo Parameters
I/O Parameters
Servo Parameters
CC-Link
Option Parameters
Devicenet
Ethernet/Ip
Chapter 4 I/O Signal Functions
I/O Specifications
CC-Link Type
Devicenet Type
Ethernet/Ip Type
I/O Signal List
I/O Signal Details
Output Signal Details
Chapter 5 Operation
Overall Operation Timing Chart
Ts-X
Ts-P
Communication Check (Field Network)
Alarm Occurrence and Clearing
Origin Point Detection Method Ts-S Ts-S2 Ts-X Ts-Sh
Origin Search (Return-To-Origin)
Origin Point Detection Method Ts-P
Origin Point and Coordinates Relationship
Return-To-Origin Timing Chart
Basic Operation
Positioning Operation
Positioning Timing Chart
Positioning Merge Operation
Push Operation
Deceleration Push Operation
Continuous Operation
Output Function
Speed Switch Function
Limitless Rotation Function
Operation Examples
Manual Mode
Jog Movement
Teach (Teaching)
Overview
Remote Command List
Remote Commands
Timing Chart
Query
Point Data Writing
Point Data Reading
Parameter Data Writing
Parameter Data Reading
Continuous Query
Positioning Operation
Special Operations
Special Codes
Operation Modes
Other Functions
Alarm No. Output Function
Stop Mode TS-S TS-S2 TS-SH
LED Status Indicators
TS-Monitor (Option) TS-X TS-P
Changing the Screen
Screen Configuration and Meaning
Screen Color in Case of Alarm
SETUP Screen
Chapter 6 Troubleshooting
Alarm Groups
Alarm Recording Function
Alarm List
Alarms: Possible Causes and Actions
Chapter 7 Specifications
Basic Specifications
Controller Basic Specifications
Ts-S Ts-S2 Ts-Sh
Ts-X Ts-P
List of Controlled Robots
Dimensional Outlines
CC-Link
I/O Interface Specifications
Npn
Pnp
Devicenet
Ethernet/Ip
Basic Specifications
Dimensional Outlines (with Ts-Monitor Ts-X Ts-P )
TS-Monitor Specifications TS-X TS-P
Ts-P
Dimensional Outlines (Rgu-2)
Regenerative Unit Specifications
Ht1 Operation Guide
Introduction
What the Ht1 Does
Ht1 Panel Layout
Connecting to the External Safety Circuit (Ht1-D
Connecting to the External Safety Circuit (HT1-D)
Connecting or Disconnecting the Ht1
Connecting to the Controller
Disconnecting from the Controller
Basic Operations
Operation Key Layout and Functions
Screen Configuration
Starting to Use the Keys
How to Enter Numbers
How to Enter Numbers
Menu Structure
Point Teaching
Editing the Point Data
Direct Teaching
Copying Point Data
Deleting Point Data
Displaying a List of Point Data
Parameter Setting
Setting Run Parameters
Setting I/O Parameters
Setting Option Parameters
Setting Servo Parameters
Operating the Robot
Origin Search (Return-To-Origin
Origin Search (Return-To-Origin)
Operating the Robot
Resetting an Alarm
I/O Monitor
Monitor Functions
Status Monitor
Status Monitor
Run Monitor
Alarm Display
Warning Display
Message Display
Alarm Record Display
Information Display
Operation Mode
Other Functions
Changing the Display Language
Setting Mode
Teaching Playback
Chapter 7 Specifications
Basic Specifications
Dimensional Outlines
Ht1
Ht1-D
Communication Command Guide
Introduction
Communication Command Specifications
Communication Parameter Specifications
Communication Specifications
Communication Command Lists
Communication Command Description
Operation Stop (STOP
Positioning Operation (START
Robot Operation Commands
JOG Movement (JOG+, JOG
Return-To-Origin (ORG
Inching Movement (INCH+, INCH
Brake Status Change (BRK
Reset (RESET
Servo Status Change (SRVO
Status Change Commands
Edit Commands
Point Data Writing 2 (P_, S_, AC_, DC_, Q
Point Data Writing 2 (P_, S_, AC_, DC_, Q_)
Current Position Teaching (TEACH
Point Data Copying (COPY
Parameter Data Writing (K
Point Data Deleting (del
Automatic Node Number Setting (SETID
Point Data Reading (?M, ?P, ?S, ?AC, ?DC, ?Q, ?ZL, ?ZH, ?N, ?J, ?F, ?T)
Query Commands
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)
Daisy Chain Guide
Introduction
Installation
Installation and Wiring
Wiring
Wiring
Automatic Node Number Assignment Function
Node Number Setting
When Using the TS-Manager
When Using the HT1
When Controllers with same Node Number Exist on Network
When Using the TS-Manager
When Using the HT1
Switching the Controllers
When Using the TS-Manager
Switching the Controllers Using the HT1
Writing and Transferring Saved and Newly Made Data
Writing Data to Controller
Transferring Data to Controller
Introduction
Installation
Wiring
Initial Setting
Node Number Setting
Configuration
I/O Interface Specifications
CC-Link Type
Ethernet/Ip Type
Data Setting and Operation
Data Setting
Operation
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YAMAHA SINGLE-AXIS ROBOT CONTROLLER
TS Series
User s Manual
TS-S/TS-S2/TS-SH/TS-X/TS-P
EPM0159204
Ver. 2.04
E119
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Chapters
Table of Contents
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Table of Contents
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Chapter 3 Data Setting
71
Chapter 5 Operation
103
Chapter 7 Specifications
173
Ht1 Operation Guide
187
Communication Command Guide
231
Daisy Chain Guide
253
Table of Contents
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Ts-sh
Ts-s2
Ts-x
Ts-p
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