Important infor
mation befor
e r
eading this manual
ii
Main functions
The following table shows the main functions of the controller.
Function
Explanation
Reference Section
Positioning
operation
Moves the robot slider to the specified position. There are 4 types
of position operation:
1. Positioning operation
Chapter 5
section 3, "Positioning operation".
2. Positioning merge operation
Chapter 5
section 3.3, "Positioning merge operation".
3. Push operation
Chapter 5
section 3.4, "Push operation".
4. Decel. Push
Chapter 5
section 3.5, "Deceleration push operation".
*Positioning can be specified in an "absolute position" or "relative
position" format.
Point data
Specifies the slider position (point).
Up to 255 points of point data can be handled.
Each point includes the following elements:
RUN Type, Position, Speed, Accel., Decel., Push Force, Zone (-),
Zone (+), Near Width (In-Position Zone), Jump, Flag, Timer.
Chapter 3
section 2, "Point data".
Point type setting
The "point data type" setting can be selected as "Standard setting"
or "Custom setting". This is possible only from the support
software.
Chapter 3
section 2, "Point data".
Origin search
Performs an origin search (return-to-origin) simply by entering a
return-to-origin command.
Chapter 5
section 1, "Operation procedure".
Chapter 5
section 2, "Origin search".
Absolute function
TS-X
TS-SH
Once the absolute battery has been connected and a single origin
return has been executed, further origin returns are not required
at subsequent power ONs.
Chapter 5
section 2.1, "Origin point detection method".
JOG operation and
current position
teaching
Robot JOG operation and current position teaching can be
performed from the host controller.
Chapter 5
section 3, "Positioning operation".
Soft limit function
Sets the robot's movement range. This function is used to avoid
collisions, etc., when obstacles are present.
Chapter 5
section 7.1, "Soft limit function"
Output function
The following statuses can be selected and output to the host
controller.
Point No. output, alarm No. output, zone output, personal zone
output, near output (in-position zone output), push status, origin
return completion status, warning output, movement-in-progress
output, manual mode status.
Chapter 4
section 3, "I/O signal details".
Alarm history
Saves up to 50 of the most recent alarms. The following elements
are saved:
Cause, start time, position, speed, operation status, operation
point, elec. current, voltage, input, output.
Chapter 6
"2. Alarm recording function".
Operation modes
Exclusive I/O and communication control is possible.
Chapter 5
section 6, "Operation modes".
Support tools
n
HT1 (Handy Terminal)
Offers point and parameter data editing/monitoring functions.
n
TS-Manager (PC software for Windows)
Support software for data designing, debugging, maintenance,
and management.
n
TS-Monitor (LCD monitor)
TS-X
TS-P
LCD monitor integrated with the controller main body that displays
the various statuses, current position, and alarm information.
HT1 Operation Guide
Chapter 5
section 9, "TS-Monitor (Option)"
