Yamaha TS-P Manuals

Manuals and User Guides for Yamaha TS-P. We have 2 Yamaha TS-P manuals available for free PDF download: User Manual

Yamaha TS-P User Manual (286 pages)

YAMAHA SINGLE-AXIS ROBOT CONTROLLER TS SERIES

Brand: Yamaha | Category: Controller | Size: 8.4 MB

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

Yamaha TS-P User Manual (264 pages)

YAMAHA SINGLE-AXIS ROBOT CONTROLLER

Brand: Yamaha | Category: Controller | Size: 8.82 MB

Table of Contents
19
Chapter 1 Overview

27
- Unpacking Check
  27
- Part Names and Functions
  27
- System Configuration
  29
- Installation and Operation Sequence
  30
Installation Method

33
- Controller Main Body
  33
- Regenerative Unit (RGT)
  34
- Regenerative Unit (RGU-2)
  34
Installation Conditions

35
Chapter 2 Wiring

36
- Power Supply Connection
  36
- Malfunction Prevention Measures
  39
Connecting the Robot

40
Connecting the Communication Unit

42
Connecting the Regenerative Unit

45
- Connecting the RGT
  45
- Connecting the RGU-2
  46
Connecting the I/O Signals

47
Connecting the EXT Connector

48
Connecting the I/O Unit

53
Safety Circuit Construction Example

58
- Performance Level
  58
- Circuit Configuration Examples
  59
Chapter 3 Data Setting

67
Data Overview

67
Point Data

68
- Standard Setting" Type
  69
- Custom Setting" Type
  70
Point Data Details

71
Parameter Data

75
- Parameter List
  75
- Parameter Details
  78
Chapter 4 I/O Signal Functions

87
- I/O Specifications
  87
- I/O Signal List
  92
- I/O Signal Details
  93
  - Input Signal Details
    93
  - Output Signal Details
    95
Chapter 5 Operation

99
Operation Procedure

99
- Overall Operation Timing Chart
  99
- Alarm Occurrence and Clearing
  101
Origin Search (Return-To-Origin)

102
Positioning Operation

107
- Basic Operation
  107
- Positioning Timing Chart
  111
- Positioning Merge Operation
  113
- Push Operation
  115
- Deceleration Push Operation
  117
- Continuous Operation
  118
- Output Function
  119
- Speed Switch Function
  120
- Operation Examples
  121
MANUAL Mode

124
- MANUAL Mode Timing Chart
  124
- JOG Movement
  125
- TEACH (Teaching)
  126
Remote Commands

127
- Overview
  127
- Remote Command List
  127
- Timing Chart
  130
- Query
  131
- Point Data Writing
  132
- Point Data Reading
  133
- Parameter Data Writing
  134
- Parameter Data Reading
  135
Operation Modes

136
Other Functions

137
- Soft Limit Function
  137
- Zone Output Function
  137
- Alarm No. Output Function
  138
- Changing the Payload
  138
- Magnetic Pole Position Estimation
  139
- LED Status Indicators
  139
TS-Monitor (Option)

140
- Opening or Closing the TS-Monitor
  140
- Changing the Screen
  141
- Screen Configuration and Meaning
  142
- Screen Color in Case of Alarm
  147
- SETUP Screen
  147
Chapter 6 Troubleshooting

149
- Alarm Groups
  151
- Alarm Recording Function
  151
- Alarm List
  152
- Alarms: Possible Causes and Actions
  153
Chapter 7 Specifications

159
- TS-P Specifications
  159
  - Basic Specifications
    159
  - Dimensional Outlines
    160
TS-P Specifications

160
I/O Interface Specifications

161
- Npn
  161
- Pnp
  161
- CC-Link
  161
- Devicenet
  162
TS-Monitor Specifications

163
- Basic Specifications
  163
- Dimensional Outlines (TS-P with TS-Monitor)
  163
Regenerative Unit Specifications

165
- Dimensional Outlines (RGT)
  165
- Dimensional Outlines (RGU-2)
  165
HT1 Operation Guide

167
Introduction

169
What the HT1 Does

170
- HT1 Panel Layout
  171
- Connecting to the External Safety Circuit (HT1-D
  173
Connecting or Disconnecting the HT1

175
- Connecting to the Controller
  175
- Disconnecting from the Controller
  177
Basic Operations

178
- Operation Key Layout and Functions
  178
- Screen Configuration
  179
- Starting to Use the Keys
  181
- How to Enter Numbers
  185
- Menu Structure
  186
Editing the Point Data

187
- Point Teaching
  187
  - Teaching Playback
    187
  - Direct Teaching
    190
- Copying Point Data
  191
- Deleting Point Data
  192
- Displaying a List of Point Data
  193
Parameter Setting

194
- Setting Run Parameters
  194
- Setting I/O Parameters
  196
- Setting Option Parameters
  197
- Setting Servo Parameters
  198
Operating the Robot

199
- Turning the Servo on or off
  199
- Origin Search (Return-To-Origin
  200
- Operating the Robot
  202
- Resetting an Alarm
  204
Monitor Functions

205
- Status Monitor
  206
- Run Monitor
  207
- Alarm Display
  208
- Warning Display
  209
- Message Display
  210
- Alarm Record Display
  211
- Information Display
  212
Other Functions

213
- Operation Mode
  213
- Setting Mode
  214
  - Changing the Display Language
    214
Specifications

215
- Basic Specifications
  215
- Dimensional Outlines 9.2.1 HT1
  215
  - Ht1-D
    216
Communication Command Guide

217
Introduction

219
Communication Specifications

220
- Communication Parameter Specifications
  220
- Communication Command Specifications
  220
Communication Command Lists

221
- Communication Command Description
  223
  - Robot Operation Commands
    223
    
    Positioning Operation (START
    223
    
    Operation Stop (STOP
    223
    
    Return-To-Origin (ORG
    224
    
    JOG Movement (JOG+, JOG
    224
    
    Inching Movement (INCH+, INCH
    225
  - Status Change Commands
    226
    
    Servo Status Change (SRVO
    226
    
    Brake Status Change (BRK
    226
    
    Reset (RESET
    226
  - Edit Commands
    227
    
    Point Data Writing 1 (M, P, S, AC, DC, Q, ZL, ZH, N, J, F, T
    227
    
    Point Data Writing 2 (P_, S_, AC_, DC_, Q
    228
    
    Current Position Teaching (TEACH
    229
    
    Point Data Copying (COPY
    229
    
    Point Data Deleting (del
    230
    
    Parameter Data Writing (K
    230
    
    Automatic Node Number Setting (SETID
    231
  - Query Commands
    232
    
    Point Data Reading (?M, ?P, ?S, ?AC, ?DC, ?Q, ?ZL, ?ZH, ?N, ?J, ?F, ?T
    232
    
    Parameter Data Reading (?K
    233
    
    Status Data Reading (?D
    234
    
    Input/Output Information Reading (?IN, ?INB, ?OUT, ?OUTB
    235
    
    Word Input/Output Information Reading (?WIN, ?WOUT
    236
    
    Option Information Reading (?OPT, ?OPTB
    237
    
    Alarm/Warning Information Reading (?ALM, ?WARN
    238
Daisy Chain Guide

241
- Installation and Wiring
  242
  - Installation
    242
  - Wiring
    243
- Node Number Setting
  246
  - Automatic Node Number Assignment Function
    246
    
    Performing Automatic Node Number Assignment
    246
    
    When Controllers with same Node Number Exist on Network
    248
  - Switching of Controllers
    250
- Writing and Transferring Saved and Newly Made Data
  252
  - Writing Data to Controller
    252
  - Transferring Data to Controller
    255

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Yamaha TS-P User Manual (286 pages)

Table of Contents

Table of Contents

Table of Contents

Chapter 1 Overview

Chapter 2 Installation and Wiring

Chapter 3 Data Setting

Chapter 4 I/O Signal Functions

Chapter 5 Operation

Chapter 6 Troubleshooting

Chapter 7 Specifications

Ht1 Operation Guide

Chapter 7 Specifications

Communication Command Guide

Daisy Chain Guide

Yamaha TS-P User Manual (264 pages)

Table of Contents

Chapter 1 Overview

Installation Method

Installation Conditions

Chapter 2 Wiring

Connecting the Robot

Connecting the Communication Unit

Connecting the Regenerative Unit

Connecting the I/O Signals

Connecting the EXT Connector

Connecting the I/O Unit

Safety Circuit Construction Example

Chapter 3 Data Setting

Data Overview

Point Data

Point Data Details

Parameter Data

Chapter 4 I/O Signal Functions

Chapter 5 Operation

Operation Procedure

Origin Search (Return-To-Origin)

Positioning Operation

MANUAL Mode

Remote Commands

Operation Modes

Other Functions

TS-Monitor (Option)

Chapter 6 Troubleshooting

Chapter 7 Specifications

TS-P Specifications

I/O Interface Specifications

TS-Monitor Specifications

Regenerative Unit Specifications

HT1 Operation Guide

Introduction

What the HT1 Does

Connecting or Disconnecting the HT1

Basic Operations

Editing the Point Data

Parameter Setting

Operating the Robot

Monitor Functions

Other Functions

Specifications

Communication Command Guide

Introduction

Communication Specifications

Communication Command Lists

Daisy Chain Guide

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