Yamaha TS-S Manuale utente

TS Series UserʼsManual

TS-S/TS-S2/TS-SH/TS-X/TS-P

YAMAHASINGLE-AXISROBOTCONTROLLER

Ver. 2.04

EPM0159204

E119

CONTENTS TS Series

User’s Manual

T-1

Important information before reading this manual

Introduction i

Main functions ii

About this manual iii

Safety alert symbols and signal words iv

CE marking v

1. Safety standard v

2. Safety measures v

3. Robot safety measures vi

4. EMC countermeasure example vi

Safety cautions ix

Warranty xii

Chapter 1 Overview

1. Unpacking check 1-1

2. Part names and functions 1-2

3. Systemconguration 1-5

4. Installation and operation sequence 1-6

Chapter 2 Installation and wiring

1. Installation method 2-1

1.1 Controller main body 2-1

1.1.1 TS-S TS-S2 TS-X TS-P 2-1

1.1.2 TS-SH 2-2

1.1.3 Installation screws 2-2

1.2 Regenerative unit (RGT) TS-X TS-P 2-3

1.3 Regenerative unit (RGU-2) TS-P 2-3

2. Installation conditions 2-4

3. Wiring 2-5

3.1 Power supply connection TS-S TS-S2 TS-SH 2-5

CONTENTS TS Series

User’s Manual

T-2

T-3

3.2 Power supply connection TS-X TS-P 2-7

3.3 Malfunction prevention measures TS-X TS-P 2-10

4. Connecting the robot 2-11

5. Connecting the communication unit 2-13

6. Connecting the regenerative unit TS-X TS-P 2-15

6.1 Connecting the RGT TS-X TS-P 2-15

6.2 Connecting the RGU-2 TS-P 2-16

7. Absolute battery TS-X TS-SH 2-17

7.1 Connecting the absolute battery 2-17

7.2 Replacing the absolute battery 2-18

8. Connecting the I/O signals 2-19

9. Conguringanemergencystopcircuit TS-S TS-S2 TS-SH 2-20

10.

Conguringanemergencystopcircuit TS-X TS-P 2-21

10.1 EXT connector signal names and functions 2-21

10.2 Wiring and connecting the EXT connector 2-23

10.3 Circuit details 2-24

11.

Connecting the I/O unit 2-25

12.

Safety circuit construction example 2-29

12.1 Performance level 2-29

12.2Circuitcongurationexamples TS-S TS-S2 TS-SH 2-30

12.2.1 Category 3 2-30

12.2.2 Overview of circuit operation 2-31

12.3Circuitcongurationexamples TS-X TS-P 2-32

12.3.1 Category 3 2-32

12.3.2 Overview of circuit operation 2-33

Chapter 3 Data setting

1. Data overview 3-1

1.1 Overview 3-1

1.2 Data system-of-units 3-1

2. Point data 3-2

2.1 "Standard setting" type 3-3

2.2 "Custom setting" type 3-4

T-2

CONTENTS TS Series

User’s Manual

T-3

3. Point data details 3-5

4. Parameter data 3-9

4.1 Parameter list 3-9

4.1.1 RUN parameters 3-9

4.1.2 I/O parameters 3-10

4.1.3 Option parameters 3-10

4.1.4 Servo parameters 3-11

4.2 Parameter details 3-11

4.2.1 RUN parameters 3-11

4.2.2 I/O parameters 3-14

4.2.3 Servo parameters 3-16

4.2.4 Option parameters 3-17

4.2.5 CC-Link 3-17

4.2.6 DeviceNet 3-18

4.2.7 EtherNet/IP 3-18

Chapter 4 I/O signal functions

1. I/Ospecications 4-1

1.1 NPN and PNP type 4-1

1.2 CC-Link type 4-2

1.3 DeviceNet type 4-4

1.4 EtherNet/IP type 4-5

2. I/O signal list 4-6

3. I/O signal details 4-7

3.1 Input signal details 4-7

3.2 Output signal details 4-9

Chapter 5 Operation

1. Operation procedure 5-1

1.1 Overall operation timing chart 5-1

1.1.1 TS-S TS-S2 TS-SH 5-1

1.1.2 TS-X 5-2

1.1.3 TS-P 5-3

1.1.4 Communication check (ﬁeld network) 5-4

1.2 Alarm occurrence and clearing 5-5

2. Origin search (return-to-origin) 5-6

2.1 Origin point detection method TS-S TS-S2 TS-X TS-SH 5-6

CONTENTS TS Series

User’s Manual

T-4

T-5

2.2 Origin point detection method TS-P 5-7

2.3 Origin point and coordinates relationship 5-10

2.4 Return-to-origin timing chart 5-10

3. Positioning operation 5-11

3.1 Basic operation 5-11

3.2 Positioning timing chart 5-14

3.3 Positioning merge operation 5-16

3.4 Push operation 5-18

3.5 Deceleration push operation 5-20

3.6 Continuous operation 5-21

3.7 Output function 5-22

3.8 Speed switch function 5-23

3.9 Limitless rotation function 5-24

3.10 Operation examples 5-25

4. MANUAL mode 5-28

4.1 MANUAL mode timing chart 5-28

4.2 JOG movement 5-29

4.3 TEACH (Teaching) 5-30

5. Remote commands 5-31

5.1 Overview 5-31

5.2 Remote command list 5-31

5.3 Timing chart 5-35

5.4 Query 5-36

5.5 Point data writing 5-37

5.6 Point data reading 5-38

5.7 Parameter data writing 5-39

5.8 Parameter data reading 5-40

5.9 Continuous query 5-41

5.10 Positioning operation 5-42

5.11 Special operations 5-44

5.12 Special codes 5-45

6. Operation modes 5-46

7. Other functions 5-47

7.1 Soft limit function 5-47

7.2 Zone output function 5-47

7.3 Alarm No. output function 5-48

7.4 Changing the payload 5-48

T-4

CONTENTS TS Series

User’s Manual

T-5

7.5 Stop mode TS-S TS-S2 TS-SH 5-49

7.6 Magnetic pole position estimation TS-P 5-49

8. LED status indicators 5-50

9. TS-Monitor (Option) TS-X TS-P 5-51

9.1 Part names and functions 5-51

9.2 Opening or closing the TS-Monitor 5-51

9.3 Changing the screen 5-52

9.4 Screencongurationandmeaning 5-53

9.5 Screen color in case of alarm 5-57

9.6 SETUP screen 5-58

Chapter 6 Troubleshooting

1. Alarm groups 6-1

2. Alarm recording function 6-2

3. Alarm list 6-3

4. Alarms: Possible causes and actions 6-4

Chapter 7 Specications

1. Controllerbasicspecications 7-1

1.1 Basicspecications 7-1

1.1.1 TS-S TS-S2 TS-SH 7-1

1.1.2 TS-X TS-P 7-2

1.2 List of controlled robots 7-3

1.3 Dimensional outlines 7-5

2.I/Ointerfacespecications 7-7

2.1 NPN 7-7

2.2 PNP 7-7

2.3 CC-Link 7-7

2.4 DeviceNet 7-8

2.5 EtherNet/IP 7-9

3. TS-Monitorspecications TS-X TS-P 7-10

3.1 Basicspecications 7-10

3.2 Dimensional outlines (with TS-Monitor TS-X TS-P ) 7-10

CONTENTS TS Series

User’s Manual

T-6

T-7

4. Regenerativeunitspecications 7-12

4.1 Dimensional outlines (RGT) 7-12

4.2 Dimensional outlines (RGU-2) 7-12

HT1 Operation Guide

Introduction A-1

1. What the HT1 does A-2

1.1 HT1 panel layout A-3

1.2 Connecting to the external safety circuit (HT1-D) A-5

2. Connecting or disconnecting the HT1 A-6

2.1 Connecting to the controller A-6

2.2 Disconnecting from the controller A-7

3. Basic operations A-8

3.1 Operation key layout and functions A-8

3.2 Screenconguration A-9

3.3 Starting to use the keys A-11

3.4 How to enter numbers A-14

3.5 Menu structure A-15

4. Editing the point data A-16

4.1 Point teaching A-16

4.1.1 Teaching playback A-16

4.1.2 Direct teaching A-18

4.2 Copying point data A-19

4.3 Deleting point data A-20

4.4 Displaying a list of point data A-21

5. Parameter setting A-22

5.1 Setting Run parameters A-22

5.2 Setting I/O parameters A-23

5.3 Setting Option parameters A-24

5.4 Setting Servo parameters A-25

6. Operating the robot A-26

6.1 Turning the servo on or off A-26

6.2 Origin search (return-to-origin) A-27

6.3 Operating the robot A-28

6.4 Resetting an alarm A-30

T-6

CONTENTS TS Series

User’s Manual

T-7

7. Monitor functions A-31

7.1 I/O monitor A-31

7.2 Status monitor A-32

7.3 Run monitor A-33

7.4 Alarm display A-34

7.5 Warning display A-34

7.6 Message display A-35

7.7 Alarm record display A-36

7.8 Information display A-37

8. Other functions A-38

8.1 Operation mode A-38

8.2 Setting mode A-39

8.2.1 Changing the display language A-39

9. Specications A-40

9.1 Basicspecications A-40

9.2 Dimensional outlines A-40

9.2.1 HT1 A-40

9.2.2 HT1-D A-41

Communication Command Guide

Introduction B-1

1. Communicationspecications B-2

1.1 Communicationparameterspecications B-2

1.2 Communicationcommandspecications B-2

2. Communication command lists B-3

3. Communication command description B-5

3.1 Robot operation commands B-5

Positioning operation (START) B-5

Operation stop (STOP) B-5

Return-to-origin (ORG) B-6

JOG movement (JOG+, JOG-) B-6

Inching movement (INCH+, INCH-) B-7

3.2 Status change commands B-8

Servo status change (SRVO) B-8

Brake status change (BRK) B-8

Reset (RESET) B-8

3.3 Edit commands B-9

CONTENTS TS Series

User’s Manual

T-8

T-9

Point data writing 1 (M, P, S, AC, DC, Q, ZL, ZH, N, J, F, T) B-9

Point data writing 2 (P_, S_, AC_, DC_, Q_) B-10

Current position teaching (TEACH) B-11

Point data copying (COPY) B-11

Point data deleting (DEL) B-12

Parameter data writing (K) B-12

Automatic node number setting (SETID) B-13

3.4 Query commands B-14

Point data reading (?M, ?P, ?S, ?AC, ?DC, ?Q, ?ZL, ?ZH, ?N, ?J, ?F, ?T) B-14

Parameter data reading (?K) B-15

Status data reading (?D) B-16

Input/output information reading (?IN, ?INB, ?OUT, ?OUTB) B-17

Word input/output information reading (?WIN, ?WOUT) B-18

Option information reading (?OPT, ?OPTB) B-19

Alarm/warning information reading (?ALM, ?WARN) B-20

Daisy Chain Guide

Introduction C-1

1. Installation and wiring C-2

1.1 Installation C-2

1.2 Wiring C-3

2. Node number setting C-5

2.1 Automatic node number assignment function C-5

2.1.1 When using the TS-Manager C-5

2.1.2 When using the HT1 C-7

2.2 When controllers with same node number exist on network C-8

2.2.1 When using the TS-Manager C-8

2.2.2 When using the HT1 C-9

2.3 Switching the controllers C-10

2.3.1 When using the TS-Manager C-10

2.3.2 Switching the controllers using the HT1 C-12

3. Writing and transferring saved and newly made data C-13

3.1 Writing data to controller C-13

3.2 Transferring data to controller C-16

Gateway Function Guide

Introduction D-1

1. Installation and wiring D-2

Questo manuale è adatto per i seguenti modelli

Indice

Altri manuali Yamaha Controllori

Yamaha

Yamaha AFC1 Manuale utente

Yamaha

Yamaha Mark IV Manuale utente

Yamaha

Yamaha RCX240 Manuale del proprietario

Yamaha

Yamaha ERCX Series Manuale utente

Yamaha

Yamaha MLC-200 Manuale utente

Yamaha

Yamaha C20A Manuale utente

Yamaha

Yamaha RCX141 Manuale utente

Yamaha

Yamaha MCP1 Manuale utente

Yamaha

Yamaha RCX340 Manuale utente

Yamaha

Yamaha SRCP30 Manuale utente

Yamaha

Yamaha Nexo NXAMP4X4 Manuale utente

Yamaha

Yamaha DRCX Manuale utente

Yamaha

Yamaha SRCP Manuale utente

Yamaha

Yamaha MCX-10 Manuale utente

Yamaha

Yamaha MJC8 Manuale utente

Yamaha

Yamaha MJC8 Manuale utente

Yamaha

Yamaha neoHD YMC-700 Manuale utente

Yamaha

Yamaha SRCD Series Manuale del proprietario

Yamaha

Yamaha CEmarking RCX221 Manuale utente

Yamaha

Yamaha TS-P Manuale utente

Yamaha

Yamaha disklavier DKC-850 Manuale utente

Yamaha

Yamaha RCX142 Manuale utente

Yamaha

Yamaha RCX240 Manuale utente

Yamaha

Yamaha RCX40 Manuale utente

Manuali Controllori popolari di altre marche

Digiplex

Digiplex DGP-848 Istruzioni operative

YASKAWA

YASKAWA SGM series Manuale utente

Sinope

Sinope Calypso RM3500ZB Manuale utente

Isimet

Isimet DLA Series Style 2 Manuale di installazione

LSIS

LSIS sv-ip5a Manuale utente

Rockwell Automation

Rockwell Automation 1769-L31 Manuale utente

Airflow

Airflow Uno hab Manuale utente

ABB

ABB ACS580-01 drives Manuale utente

Panasonic

Panasonic GM1 Series Manuale utente

Emerson

Emerson SW93 Manuale utente

AutoAqua

AutoAqua Smart ATO micro SATO-120P Manuale utente

Panasonic

Panasonic FP? Positioning Unit RTEX Manuale utente

Samson

Samson Type 5824 Manuale di servizio

Alpha IP

Alpha IP MIOB 21001 Manuale utente

Siemens

Siemens OpenAir GMA 1 Series Manuale utente

Surecom

Surecom SR-629 Manuale utente

Fishman

Fishman TriplePlay Manuale utente

Regulus

Regulus SRS1 T Manuale utente