I/O Parameters - Yamaha TS-S User Manual

Yamaha single-axis robot controller ts series
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NOTE
Refer to section 3.8, "Speed switch function", in Chapter 5 for more details.
K18
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.
c
CAutIoN
this function is available from controller's software version 1.06.111 onwards. the parameter can be changed by
3
the ht1 with the software version 1.09 onwards and by the tS-Manager with the software version 1.2.1 onwards.
n
NOTE
Refer to section 3.8, "Speed switch function", in Chapter 5 for more details.
• Limitless rotation function
K19
Function
Sets the limitless rotation function enabled or disabled.
Settings
Setting Value
c
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.
K21
K22
K23
K24
Function
Specifies the functional signals (shown below) for the control outputs (OUT0 to OUT3).
Settings
Setting Value
3-14
Switched speed
Limitless rotation function
Description
0
Disable
1
Enable
2
Enable (shorter rotation)
Name
OUT0 select
OUT1 select
OUT2 select
OUT3 select
Signal Type
0
-
No output
1
PZONE
Personal zone output
2
NEAR
NEAR output
3
TLM-S
Push status
4
ORG-S
Return-to-origin end status
5
ZONE
Zone output
6
MOVE
Movement-in-progress
7
/WARN
Warning output
8
MANU-S
MANUAL mode status
Setting Range
1 to 100
Setting Range
0 to 2
Setting / Setting Range
0 to 8
0 to 8
0 to 8
0 to 8
Description
Default
Units
Restart
10
%
-
Default
Units
Restart
0
-
-
Default
Units
Restart
1
-
Required
2
-
Required
3
-
Required
4
-
Required

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