User Manuals: Yamaha TS-S2 Industrial Robot Controller

Manuals and User Guides for Yamaha TS-S2 Industrial Robot Controller. We have 1 Yamaha TS-S2 Industrial Robot Controller manual available for free PDF download: User Manual

Yamaha TS-S2 User Manual

Yamaha TS-S2 User Manual (286 pages)

YAMAHA SINGLE-AXIS ROBOT CONTROLLER TS SERIES

Brand: Yamaha | Category: Controller | Size: 8 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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