I/O Signal List - Yamaha TS-S User Manual

2. I/O signal list
A list of the I/O signals is given below. For details regarding each signal, refer to section 3 "I/O signal
details".
Type Signal Name
PIN0 to PIN7
MANUAL
4
POUT0 to
ZONE
PZONE
MANU-S
ORG-S
TLM-S
/WARN
NEAR
MOVE
*1. Used for OUT0 to OUT3 signal assignment by parameter selection. The factory settings when shipped are as follows: OUT0 = PZONE,
OUT1 = NEAR, OUT2 = TLM-S, OUT3 = ORG-S.
4-6
Meaning
Point No. select
0 to 7
JOG+ JOG movement (+ direction)
JOG- JOG movement (- direction)
SPD Speed switch
MANUAL mode
ORG Return-to-origin
/LOCK Interlock
START Start
TEACH Current position teach
RESET Reset
SERVO Servo ON
Point No. output
POUT7 0 to 7
OUT0 Control output 0
OUT1 Control output 1
OUT2 Control output 2
OUT3 Control output 3
*1
Zone output
*1
Personal zone output
*1
MANUAL mode status
*1
Return-to-origin end status
*1
Push status
*1
Warning output
*1
NEAR output
*1
Movement-in-progress
BUSY Operation-in-progress
END Operation end
/ALM Alarm
SRV-S Servo status
Description
• Specifies the point No. for the positioning operation.
• Specifies the point No. for current position teaching (MANUAL mode).
Plus-direction movement occurs while ON (MANUAL mode)
Minus-direction movement occurs while ON (MANUAL mode)
Enabled when assigned to the JOG+ signal, with Speed switch function set to
"Enable" and MANUAL set to "OFF".
Performs the positioning operation at the speed set in "Switched speed".
ON: MANUAL mode
Begins a return-to-origin.
ON: movement enabled; OFF: movement disabled; If switched OFF during
movement, a deceleration stop occurs.
Begins positioning to the specified point.
Enabled when assigned to the START signal, with /LOCK set to OFF in the
MANUAL mode.
Sets (teaches) the current position at the specified point No.
• Alarm reset
• Point No. output reset
• Relative positioning "remaining movement amount" clear
ON: servo on; OFF: servo off.
• Outputs the point No. of the positioning operation.
• Outputs the alarm No. of the alarm which occurred.
Assigns the following outputs by I/O parameter setting:
• Zone output • Personal zone output
• MANUAL mode status • Return-to-origin end status
• Push status • Warning output
• NEAR output • Movement-in-progress output
ON when robot enters the parameter-specified zone.
ON when specified zone for each point is entered.
ON when in the MANUAL mode.
ON at return-to-origin end.
ON during push operation.
OFF when a warning alarm occurs.
ON near the end of positioning.
ON while movement is in progress.
ON while operation is in progress.
Operation result output; ON at normal end.
ON when normal. OFF when alarm occurs.
ON when servo is on.