Ts-P - Yamaha TS-S User Manual

1.1.3

TS-P

The following shows the timing chart of the TS-P controller.
From power ON to positioning operation
TS-P
Control power (L1, N1)
Main power READY
(MPRDY)
Operation end (END)
Emergency stop
(E-STOP)
Main power (L, N)
Alarm (/ALM)
Interlock (/LOCK)
Servo ON (SERVO)
Servo status (SRV-S)
Return-to-origin (ORG)
Return-to-origin
end status (ORG-S)
Operation-in-progress
(BUSY)
Point No. select
(PIN0 to PIN7)
Start (START)
Point No. output
(POUT0 to POUT7)
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 : For 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 : The 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 : BUSY switches ON during magnetic pole detection at first "servo ON". (See section 7.6, "Magnetic pole position
estimation", in Chapter 5.)
*5 : It 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 : Data may be output from the COM port on the controller during initial processing. Discard all of those data.
1
*5 *6
2
Initial processing
7
3
*1
4
5
6
*2
*4
00h
00h
8
11 13
9
01h 00h
10 12
*3
Td≥5ms
01h
5
23501-M2-00
5-3