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

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