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Communication Command Guide

Contents

Introduction

B-1

1. Communication specifications

B-2

1.1

Communication parameter specifications

B-2

1.2

Communication command specifications

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-

Inching movement (INCH+, INCH-)

B-

3.2

Status change commands

B-8

Servo status change (SRVO)

B-8

Brake status change (BRK)

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

B-

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

B-10

Current position teaching (TEACH)

B-11

Point data copying (COPY)

B-1

Point data deleting (DEL)

B-12

Parameter data writing (K)

B-12

Automatic node number setting (SETID)

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

B-1

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-1

Option information reading (?OPT, ?OPTB)

B-19

Alarm/warning information reading (?ALM, ?WARN)

B-2

Summary of Contents for TS-S

Page 1: ...TS Series Userʼs Manual TS S TS S2 TS SH TS X TS P YAMAHA SINGLE AXIS ROBOT CONTROLLER Ver 2 04 EPM0159204 E119 ...

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Page 3: ... cautions ix Warranty xii Chapter 1 Overview 1 Unpacking check 1 1 2 Part names and functions 1 2 3 System configuration 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...

Page 4: ... TS S TS S2 TS SH 2 20 10 Configuring 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 configuration examples TS S TS S2 TS SH 2 30 12 2 1 Category 3 2 30 12 2 2 Ov...

Page 5: ...7 EtherNet IP 3 18 Chapter 4 I O signal functions 1 I O specifications 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 ...

Page 6: ...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...

Page 7: ...een 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 Specifications 1 Controller basic specifications 7 1 1 1 Basic specifications 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 specifications 7 7 2 1 NPN 7 7 2 2 PNP ...

Page 8: ...nd functions A 8 3 2 Screen configuration 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...

Page 9: ...ions 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 specifications B 2 1 1 Communication parameter specifications B 2 1 2 Communication command specifications 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 ST...

Page 10: ...ng 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 Manag...

Page 11: ...al setting D 3 2 1 Node number setting D 3 2 2 Enable setting D 3 3 I O interface specifications D 4 3 1 Configuration D 4 3 2 CC Link type D 5 3 3 EtherNet IP type D 6 4 Data setting and operation D 7 4 1 Restrictions on gateway function D 7 4 2 Data setting D 7 4 3 Operation D 7 ...

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Page 13: ...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 Important information before reading this manual ...

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Page 15: ...e correct and safe use of this controller This manual explains four controller models TS S TS S2 TS SH TS X and TS P So some functions or numeric values may vary depending on the controller model you are using In this manual the models TS S TS S2 TS SH TS X and TS P are expressed by TS S TS S2 TS SH TS X and TS P respectively Be sure to check the items corresponding to the controller model you are...

Page 16: ... 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 et...

Page 17: ...a such as parameter or point data or operating the robot using a communication unit such as a personal computer through the RS 232C communication Communication Command Guide Explains the daisy chain function of the TS series robot controllers Daisy Chain Guide Supplement HT1 Operation Guide Explains the procedures for using the HT1 Handy Terminal to edit point data and to operate the robot etc 230...

Page 18: ...ded will result in death or serious injury w WARNING WARNING indicates a potentially hazardous situation which if not avoided could result in death or serious injury c CAUTION CAUTION indicates a potentially hazardous situation which if not avoided could result in minor or moderate injury or damage to the equipment or software Indicates a prohibited action related to the handling of this product R...

Page 19: ...ce characteristics Limits and methods of measurement EN 61000 6 2 Electromagnetic compatibility EMC Part6 2 Generic standards Immunity for industrial environments Cautions regarding the official language of EU countries For equipment that will be installed in EU countries the language used for the manuals warning labels operation screen characters and CE declarations is English only Warning labels...

Page 20: ...installation conditions When our product is installed in the customer s system the test results may differ due to the difference in the installation conditions Configuration c CAUTION As shown in the drawing below install the ferrite cores and noise filter as close to the controller as possible Also install another ferrite core as close to the robot as possible TS S MP24V CP24V ROB I O IO COM1 Pow...

Page 21: ...rge noise that may be generated by lightning A recommended surge absorber is shown below Recommended surge absorber Manufacturer SOSHIN ELECTRIC CO LTD Type No LT C12G801WS Status indicator green normal red abnormal φ 4 3 0 3 0 1 25 1 0 4 33 5 1 0 19 1 0 Wire line Black Wire earth Green Yellow 38 1 0 22 5 1 0 250 25 0 28 1 0 4 0 5 Dimensional outline Unit mm 23002 M1 00 ...

Page 22: ...abel 2 φ4 8 6 M4 Protective earth PE Terminal block cover Mounting plate 0 5 82 92 77 15 53 0 5 45 12 41 2 8 3 5 27 Tolerance 1 Unit mm Dimensional outline 23003 M1 00 3 Ferrite core Install ferrite cores according to the customer s final product entire system Recommended ferrite cores are shown below Recommended ferrite core 1 Manufacturer TDK Type No ZCAT3035 1330 39 0 1 34 0 1 30 0 1 13 0 1 Dim...

Page 23: ... TS P The controller and robot were designed as general purpose industrial equipment and cannot be used for the following applications In medical equipment systems which are critical to human life In systems which significantly affect society and the general public In environments which are subject to vibration such as aboard ships and vehicles For safety purposes be sure to install an emergency s...

Page 24: ... them These actions could damage the cable possibly resulting in malfunctions and electrical shocks Be sure that cable connectors and terminals are fully inserted and securely fastened Tighten the fastening screws securely Failing to do so could cause a poor connection possibly resulting in malfunctions Securely ground the power terminal block s ground terminal TS S TS S2 TS SH Failing to do so co...

Page 25: ...ning the tasks Failing to do so could result in electrical shocks or burn injuries from touching areas which are still hot or from touching components where a high voltage condition remains for a short period after a power OFF Use the controller and robot only in the prescribed combinations Unsuitable combinations could result in fires and equipment failure Save the controller s internal data to a...

Page 26: ...own due to causes other than the above that are not the fault or responsibility of YAMAHA The following cases are not covered under the warranty 1 Products whose serial number or production date month year cannot be verified 2 Changes in software or internal data such as programs or points that were created or changed by the customer 3 Products whose trouble cannot be reproduced or identified by Y...

Page 27: ...Chapter 1 Overview Contents 1 Unpacking check 1 1 2 Part names and functions 1 2 3 System configuration 1 5 4 Installation and operation sequence 1 6 ...

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Page 29: ...X TS P EXT connector TS X TS P 1 piece With wire release lever Dummy connector 1 piece For COM1 connector I O cable 1 piece For NPN and PNP Absolute battery TS X TS SH 1 piece The accessories vary according to the shipment configuration For details contact YAMAHA or the sales outlet Example of package contents Robot cable HT1 Option I O cable Controller main body Robot main body 23101 M0 00 ...

Page 30: ...urchased Power supply connector Connector for main power and control power input TS S2 TS S2 23101 M3 00 Communication connector 1 COM1 Connector for connection to a communication unit such as HT1 or a personal computer Robot I O connector ROB I O Connector for robot peripheral I O signals such as position and brake signals etc and motor power lines I O connector I O Connector type is selected NPN...

Page 31: ...n I O connector I O Connector type is selected NPN PNP CC Link DeviceNet or EtherNet IP when purchased Unit s top cover in an open condition Communication connector 1 COM1 Connector for connection to a communication unit such as HT1 or a personal computer Robot I O connector ROB I O Dedicated connector for robot I O signals such as position signals and origin sensor signals etc Regenerative unit c...

Page 32: ...tion 2 4 DeviceNet for details of LED indicator lamp meanings NS MS EtherNet IP Link Activity 1 LED Green when lit Link Activity 2 LED Green when lit MS LED Green Red when lit NS LED Green Red when lit EtherNet connection connector 1 EtherNet connection connector 2 23216 M0 00 TIP See Chapter 7 section 2 5 EtherNet IP for details of LED indicator lamp meanings ...

Page 33: ...series robot For details about control target robots refer to 1 2 List of controlled robots in Chapter 7 TS S TS S2 TS SH TS X TS P HT1 TS Manager RGT RGU 2 I O control Chuck limit switch and PLC etc Regenerative unit The regenerative unit is an optional item This regenerative unit model may vary depending on the controller model you are using HT1 or support software The HT1 and support software T...

Page 34: ...unctions Chapter 5 Operation Machine reference check Verifying that operation can be executed from the host unit Operation pattern and peripheral device matching Point data adjustment Check by LED status indications Check the alarm No Correct the alarm cause Robot operation check Installation Power ON Cable and connector wiring and connection Ground connection Building the emergency stop circuit A...

Page 35: ...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 Configuring an emergency stop circuit TS S TS ...

Page 36: ...rmance level 2 29 12 2 Circuit configuration 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 configuration examples TS X TS P 2 32 12 3 1 Category 3 2 32 12 3 2 Overview of circuit operation 2 33 ...

Page 37: ...allation method 1 1 Controller main body 1 1 1 TS S TS S2 TS X TS P Use the mounting screw holes to install the controller on a vertical wall in the manner shown below Installation of controller main body TS S TS S2 TS X TS P 23201 M0 00 ...

Page 38: ...alled make sure that the controller is secured to the DIN rail firmly If not secured to the DIN rail firmly this may cause the controller to break or drop Installation of controller main body Using the mounting screw holes Installing the controller on a DIN rail 1 2 Remove the controller top cover before starting the work After installed reattach the cover in place 1 Hang the upper groove on a DIN...

Page 39: ...rque 2mm φ 5 5 M5 1 5 N m 1 3 Regenerative unit RGU 2 TS P Use the L shape mounting fixtures to install the RGU 2 on a vertical wall The L shape fixtures are factory attached to the front side prior to shipment but they can be attached to the rear side as shown in the figure below P N RGEN Installation of RGU 2 L shape mounting fixture L shape mounting fixture 23201 M2 00 Installation screws Use t...

Page 40: ...n Environments to be avoided To ensure safe and correct controller operation avoid using the controller in the following environments Environments which contain corrosive gases such as sulfuric acid or hydrochloric acid or where flammable gases and liquids are present in the atmosphere Environments with excessive dust Environments which contain metal cutting chips oil and water etc from other mach...

Page 41: ... in conjunction with the emergency stop contact to form an emergency stop circuit For details refer to section 9 Configuring an emergency stop circuit in this Chapter 23202 M3 00 c CAUTION Be sure that the power supply voltage and the terminal connections are correct Incorrect voltage and connections could cause an equipment failure Power requirements Voltage 24VDC 10 Current Control power supply ...

Page 42: ...put 1 Connected to Handy Terminal s safety connector Pin No 14 ES2 Handy Terminal s emergency stop contact output 2 Connected to Handy Terminal s safety connector Pin No 15 Explanation When using a Handy Terminal which has no ENABLE switch ES1 and ES2 serve as the Handy Terminal emergency stop button s contact outputs When using a Handy Terminal which has an ENABLE switch ES1 is connected to Handy...

Page 43: ...l Name Description L Main power input 100 to 115VAC 10 50 60Hz N NC No connection L1 Control power input 100 to 115VAC 10 50 60Hz Consumption current 300mA MAX N1 Power supply connection examples For 200VAC power supply AC IN L N L1 N1 Wiring breaker Controller 200VAC Noise filter Surge absorber Electromagnetic contactor 23202 M1 00 L1 N1 AC IN L N NC For 100VAC power supply Wiring breaker 100VAC ...

Page 44: ... prevent electrical shocks in case of electrical leakage and to prevent equipment malfunctions due to electrical noise A Class D or higher grounding grounding resistance of 100Ω or less is required w WARNING Be sure that ground is securely connected Tighten the ground terminal screw to the torque shown below Recommended Tightening Torque 0 75N m Considering power capacity and generated heat amount...

Page 45: ... X210 P210 3 X220 P220 7 100VAC X105 P105 4 X110 P110 6 Installing a surge absorber Be sure to install an external surge absorber to protect the equipment from surge noise caused by lightning strikes Recommended Surge Absorber Model Manufacturer LT C12G801WS SOSHIN Electric Co Ltd Installing an electromagnetic contactor In order to flexibly accommodate the various safety categories required by cus...

Page 46: ...Secondary wire L1 N1 L N Ground wire Noise filter s primary and secondary wires are bundled together The ground wire and primary wire are bundled together Installation of noise filter Bad example 23205 M1 00 Installation of surge absorbing circuit A surge absorbing circuit must be installed at induction load induction motor solenoid valve brake solenoid relay etc coils which are located near the c...

Page 47: ... the cables Insert the cable plug into the connector until a clicking sound is heard fully inserted Connect only the robot which is to be used Always grasp the connector body when plugging in and unplugging the cables Connection method Controller Robot I O connector TRANSERVO series Connecting the robot TS S TS SH TS S2 23204 M3 00 Connecting the robot Controller Robot I O connector ROB I O Single...

Page 48: ...RG and PG respectively only when the robot I O setting is set at SENSOR TS X Pin No Signal Name Description 1 PS Resolver SIN input 2 PS Resolver SIN input 3 PC Resolver COS input 4 PC Resolver COS input 5 R Resolver excitation output 6 R Resolver excitation output 7 FG Frame ground 8 NC No connection 9 NC 10 PG Origin sensor power 0V 11 24V Origin sensor power 24V 12 ORG Origin sensor signal inpu...

Page 49: ... the emergency stop state and the robot servo turns off Connecting the controller to the HT1 c CAUTION Do not modify the connection cable This can cause communication errors and equipment failure Always grasp the connector body when connecting disconnecting the connection cable at the controller Pulling on the cable can cause an equipment failure An incorrectly inserted connector or poor contact c...

Page 50: ... the connector is correctly and securely connected When disconnecting the connector from the controller pull the connector straight out to avoid bending the connector pins An emergency stop occurs if the communication cable or Handy Terminal cable is unplugged while the controller power is on and a servo off status is established at the robot Communication device connection Communication cable Per...

Page 51: ... when connecting the regenerative unit Insert the cable plug into the connector until a clicking sound is heard fully inserted Install the regenerative unit in a well ventilated location with ample peripheral space 20mm or more Controller RGT Dedicated cable Ground terminal 20mm or more Connecting the RGT 23208 M1 00 Ground terminal The controller must be grounded to prevent electrical shocks in c...

Page 52: ...onnector until a clicking sound is heard fully inserted Install the regenerative unit in a well ventilated location with ample peripheral space 20mm or more Be sure to connect the round terminal of the cable dedicated to the RGU 2 to the ground terminal of the controller securely N1 RGEN L COM1 I O ROB CHARGE 200V L1 MOTOR I O N P N Connecting the RGU 2 Controller RGU 2 Dedicated cable 20mm or mor...

Page 53: ... battery first connect its cable to the BAT connector inside the panel then install the battery c CAUTION Plug in and unplug the battery cable while grasping the connector body When closing the cover be careful so that the absolute battery cable is not pinched by the cover Connecting the absolute battery TS X 23209 M1 00 Connecting the absolute battery TS SH 23202 M5 00 ...

Page 54: ...lacing the absolute battery with the power to the controller turned on c CAUTION Before replacing the absolute battery be sure to put the robot in the safe state emergency stop state Since the power to the controller is turned on electrically live state replace the absolute battery with great care If the absolute battery is replaced with the robot cable disconnected when replacing the battery with...

Page 55: ... O NPN Alarm TS S POUT0 POUT7 PIN0 PIN7 TS SH TS S2 23205 M3 00 I O wiring diagram PIN0 PIN7 JOG JOG MANUAL ORG LOCK START RESET SERVO SRV S ALM END BUSY OUT3 OUT0 POUT7 POUT0 COM COM DC24V I O NPN JOG movement JOG movement MANUAL mode Return to origin Interlock Start Reset Servo ON Servo status Alarm End of operation Operation in progress Control outputs OUT 0 to 3 I O power common I O power comm...

Page 56: ...gure an emergency stop circuit Emergency stop circuit connected in daisy chain ES status COM1 Controller Handy Terminal Internal GND 0V CP24V MP24V ES ES2 ES1 External 0V External 24V ES status COM1 Controller Internal GND 0V CP24V MP24V ES ES2 ES1 External 0V ES status COM1 Controller Internal GND 0V CP24V MP24V ES ES2 ES1 External 0V External emergency stop External 24V 1 2 2 2 External 0V Relay...

Page 57: ...V 0V This input supplies power for the mechanical brake Signal Name Description Type 24V 0V Power input for mechanical brake Input Explanation When using a brake equipped robot this terminal serves as the 24VDC input to power the brake If the robot has no brake this terminal connection is not required Brake power supply 24VDC 10 300mA Internal power for emergency stop input ES and emergency stop R...

Page 58: ...en using a Handy Terminal which has an ENABLE switch ES1 is connected to Handy Terminal s safety connector Pin No 14 and ES2 is connected to Pin No 15 ES1 and ES2 should be used when building an external safety circuit Load 24VDC 300mA Max n NOTE ES1 and ES2 will be short circuited if the accessory dummy connector is connected to COM1 Main power input READY output contacts MPRDY1 MPRDY2 These sign...

Page 59: ...s shown in the figure below to insert the core wire into the opening in EXT connector and perform the wiring After the wiring has been completed pull the wire lightly to verify that the wire is locked At this time do not pull the wire strongly Dedicated tool Wiring method Using the dedicated tool Using a flat blade screwdriver Insert the screwdriver into the slot at the upper portion of the connec...

Page 60: ...tor COM1 Controller Handy Terminal Internal GND NO NC MPRDY1 MPRDY2 ES ES1 ES2 ES ES status EXT connector Controller Internal GND MPRDY1 MPRDY2 ES ES1 ES2 ES ES status EXT connector Controller Internal GND MPRDY1 MPRDY2 L N NO NC L N NO NC External 0V External 24V External 24V Internal power Internal power External 0V Relay 1 2 2 External 0V 23215 M1 00 w DANGER In order to flexibly accommodate th...

Page 61: ...em Color Signal Name Terminal No Outputs Point No outputs 0 to 7 Brown POUT0 B1 Red POUT1 B2 Orange POUT2 B3 Yellow POUT3 B4 Green POUT4 B5 Blue POUT5 B6 Purple POUT6 B7 Gray POUT7 B8 Control output 0 White OUT0 B9 Control output 1 Black OUT1 B10 Control output 2 Brown OUT2 B11 Control output 3 Red OUT3 B12 Operation in progress Orange BUSY B13 End of operation Yellow END B14 Alarm Green ALM B15 S...

Page 62: ...3209 M0 00 Type NPN open collector output Minus common type Photo coupler isolation format Load 24VDC 50mA per point PNP type I O circuit details 24VDC Logic circuit Internal circuit COM Input COM 4 7kΩ Input circuit 23210 M0 00 Type DC input minus common type Photo coupler isolation format Load 24VDC 10 5 5mA ON voltage 19 6Vmin 4 5mA OFF voltage 4 9Vmax 1 1mA Logic circuit Internal circuit COM C...

Page 63: ...ify that the wires are fully inserted to the position of the dotted line Position the pliers from the side of the connector and press the cover onto the body to clamp the connector onto the cable Verify that the cover is level with the body and that there is no gap between the body and the cover We recommend that you use heat shrink tubing to protect the drain wire and the other wires 23220 M0 00 ...

Page 64: ...pecifications RJ45 8 pin Modular connector Controller side 8 1 Number Name 1 TD 2 TD 3 RD 4 5 6 RD 7 8 23217 M0 00 The customer must prepare an appropriate cable Use CAT5e or better STP cable double shielded Connection method Host unit EtherNet IP scanner TS series Max 100 m TS series As the 2 Port switch is installed on the EtherNet IP unit the line type or ring type topology communication become...

Page 65: ...following flow Flow for determining performance levels 1 Determine the performance level PLr required of the safety circuit by means of risk assessment 2 Configure the safety circuit that satisfies the requirements of the category that meets PLr 3 Calculate the safety circuit s performance level PL from the MTTFd DCavg and CCF of the devices used for the safety circuit and then make sure that the ...

Page 66: ...er Surge absorber Circuit protector AC DC Circuit protector Circuit protector S1 AUTO MANUAL mode selection MANUAL MODE a b AUTO Close Open Close Open 24V a b G9SP SRL1 V1 V2 G1 G2 O0 T2 T0 IN6 IN8 O1 IN0 IN2 IN3 IN4 IN5 IN1 T3 IN7 O2 Emergency stop Enable E STOP status 0V MP24V CP24V FG HT1 D 0V 24V 24V DC IN KM2 KM1 ES1 ES2 ES HT1 D SAFETY 14 15 5 6 7 8 1 2 3 4 7 8 7 8 COM1 Category 3 safety cir...

Page 67: ... the category 0 emergency stop is activated regardless of other switch settings Each mode operation by mode select switch setting 222 2 1 AUTO mode Mode select switch setting input a Close input b Open The enable switch of the pendant is disabled and only if the following conditions are all met the relay turns ON and main power motor operating power is supplied to the controller Conditions The eme...

Page 68: ...ode selection MANUAL AUTO Close Open Close Open MODE a b a b S3 External emergency stop S2 Safety door 24V KM2 KM1 G9SP SRL1 V1 V2 G1 G2 O0 T2 T0 IN6 IN10 O1 IN0 IN2 IN3 IN12 IN13 IN1 T3 IN7 O2 IN8 IN11 O3 T1 IN4 IN5 KA1 KA2 24V HPB SAFETY N1 L1 L AC IN N EXT Emergency stop Enable HT1 D Motor power Control power ES1 ES2 ES 5 6 4 24V 3 ES 7 8 MPRDY1 MPRDY2 COM1 7 8 5 6 7 8 1 2 3 4 14 15 7 8 T2 Cate...

Page 69: ...ect switch setting input a Close input b Open 222 2 1 AUTO mode Mode select switch setting input a Close input b Open The enable switch of the pendant is disabled and only if the following conditions are all met the contactor turns ON and main power motor operating power is supplied to the controller Conditions The emergency stop switch is closed The safety door is closed The MP RDY signal is on O...

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Page 71: ...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 ...

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Page 73: ... Sets the point data to be used in positioning Select the desired setting type Standard setting or Custom setting according to the application Specifies parameter settings related to positioning and return to origin operations Specifies parameter settings related to terminal assignments and I O function selection Specifies parameter settings related to options such as CC Link etc Specifies paramet...

Page 74: ...r positioning completion Standard setting and Custom setting There are 2 setting types for point data Standard setting or Custom setting Select the desired setting type according to the application The maximum number of setting points for both setting types is 255 points P1 to P255 Setting Type Description Standard setting Optimum positioning is provided simply by specifying the payload This setti...

Page 75: ...oad 23303 M0 00 TIP Payload settings are specified at the K76 Payload 1 and K78 Payload 2 servo parameters See section 4 2 Parameter details of this manual for details If 2 payloads have been set either setting can be selected for each point data See the Flag item in section 3 Point data details of this manual for details Point data setting range and default settings Data Item Setting Range Units ...

Page 76: ...upper limit depends on robot type Depends on robot type m s2 Depends on robot type 5 Decel 1 to 100 100 6 Push TS S TS S2 TS SH 1 to upper limit depends on robot type 1 TS X TS P 1 to 100 TS S TS S2 TS SH Depends on robot type TS X TS P 100 7 Zone Other than TS P 9999 99 to 9999 99 TS P 9999 999 to 9999 999 mm 0 00 8 Zone 9 Near width Other than TS P 0 00 to 9999 99 TS P 0 000 to 9999 999 mm 1 00 ...

Page 77: ...peed specified by point 2 2 After reaching X1 moves to X2 without decelerating to stop X2 X1 1 2 5 ABS Push 6 INC Push Moves while pushing at a preset push force Position P is an absolute coordinate relative to the origin point P Push operation Pushing continues until the slider reaches position P or the push judgment time K5 is reached Moves while pushing at a preset push force X is the specified...

Page 78: ...ion s optimum acceleration Custom setting The acceleration is specified in m s2 units w WARNING Payload acceleration and deceleration settings which differ greatly from the actual values will result in operation time loss shorten the robot life and cause vibration Be sure to set them to appropriate values Decel 555 Specifies the positioning deceleration setting as a percentage of the accel setting...

Page 79: ... output The near width output switches ON while the robot is passing through the near width zone When the RUN type is Decel Push this range represents the position distance from target position where deceleration ends and the push status begins Example for a setting of Near width 5mm P 5 P 5 Near width Near width Position Target position P 23308 M0 00 Jump 1111 Specifies the next point No when mov...

Page 80: ... 0 Normal rotation 0 1 Reverse rotation 1 x Shorter rotation This function is available from Ver 1 10 121 onwards TIP For details about how to select the payload see section 7 4 Changing the payload in Chapter 5 For details about stop mode TS S TS S2 and TS SH only see section 7 5 Stop mode in Chapter 5 For details about how to select the limitless rotation function see section 3 9 Limitless rotat...

Page 81: ...0 mm Other than TS P 0 01 TS P 0 001 4 Push mode 0 Continue push after judgment no push failure judgment 1 Positioning after judgment no push failure judgment 2 Continue push after judgment with push failure judgment 3 Positioning after judgment with push failure judgment 0 5 Push judge time 1 to 60000 ms 10 6 Push speed 0 01 to 20 00 mm s Depends on robot type 7 Zone Other than TS P 9999 99 to 99...

Page 82: ...VO sequence 0 Edge 1 Level 0 32 JOG response time 0 JOG movement only 1 to 1000 Inching at leading edge with JOG movement after specified time elapses ms 0 33 Input filter 1 to 10 ms 2 Communication No Name Setting Setting Range Units Default Restart 38 Node controller 1 to 16 1 4 1 3 Option parameters I O function No Name Setting Setting Range Units Default Restart 80 Option enable 0 Disable 1 En...

Page 83: ...sted to conform to the actual application and usage conditions 4 2 1 RUN parameters Positioning related parameters K1 K2 Soft limit Soft limit Setting Range Default Units Restar Other than TS P 9999 99 to 9999 99 TS P 9999 999 to 9999 999 Depends on robot type mm Function Specifies the robot movement range K1 specifies the minus side limit and K2 specifies the plus side limit Although the robot s ...

Page 84: ...S P 9999 999 to 9999 999 Other than TS P 0 00 TS P 0 000 mm Function Specifies the zone output ZONE range s upper and lower limits TIP For zone output details see section 7 2 Zone output function in Chapter 5 K9 Speed override Setting Range Default Units Restart 1 to 100 100 Function Performs an override uniform adjustment of the speed specified for the positioning operation K10 JOG speed Setting ...

Page 85: ... coordinate system polarity Settings Setting Value Description 0 Standard Plus polarity is opposite direction from return to origin direction 1 Reverse Plus polarity is same direction as return to origin direction K16 Origin shift Setting Range Default Units Restart Other than TS P 9999 99 to 9999 99 TS P 9999 999 to 9999 999 Other than TS P 0 00 TS P 0 000 mm Function Specifies the coordinates of...

Page 86: ...Units Restart 0 to 2 0 Function Sets the limitless rotation function enabled or disabled Settings Setting Value Description 0 Disable 1 Enable 2 Enable shorter rotation c CAUTION This parameter is available from controller s software version Ver 1 10 121 onwards The HT1 can change this parameter from software version Ver 1 13 onwards while the TS Manager can change it from Ver 1 3 3 onwards 4 2 2 ...

Page 87: ...s Restart 0 to 1 0 Function Specifies the SERVO input s servo ON OFF conditions Settings Setting Value Description 0 Edge servo ON at leading edge servo OFF at trailing edge 1 Level ON servo on OFF servo off K32 JOG response time Setting Range Default Units Restart 0 to 1000 0 ms Function Specifies the JOG movement sequence at JOG JOG inputs Settings Setting Value Description 0 JOG operation only ...

Page 88: ...e Default Units Restart Depends on robot type m s2 Function Specifies the maximum payload acceleration defined by the Payload 1 K76 parameter This is a read only parameter K78 Payload 2 Setting Range Default Units Restart 0 to depends on robot type Depends on robot type kg Function Specifies the maximum weight of objects tools workpieces etc which can be mounted on the robot The maximum accelerati...

Page 89: ...rated current for each robot type 4 2 4 Option parameters K80 Option enable Setting Range Default Units Restart 0 to 1 1 Function Specifies the I O enable disable setting Settings Setting Value Description 0 Disable 1 Enable 4 2 5 CC Link K81 CC Link node Setting Range Default Units Restart 1 to 64 1 Required Function Specifies the CC Link communication node K82 CC Link speed Setting Range Default...

Page 90: ...on Presently this parameter is not used IP address Setting Range Default Units Restart 0 0 0 0 to 255 255 255 255 192 168 0 1 Required Function Specifies the IP address When this parameter is set to 0 0 0 0 the DHCP becomes enabled automatic IP address assignment Subnet mask Setting Range Default Units Restart 0 0 0 0 to 255 255 255 255 255 255 255 0 Required Function Specifies the subnet mask Def...

Page 91: ...Contents 1 I O specifications 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 ...

Page 92: ......

Page 93: ...Number of channels occupied by EtherNet IP slaves Inputs 6CH Outputs 6CH 1 1 NPN and PNP type Both the NPN and PNP types have 16 input points and 16 output points I O signal table No Signal Name Description No Signal Name Description A1 COM I O power input positive common 24VDC 10 B1 POUT0 Outputs Point No outputs A2 B2 POUT1 A3 NC No connection B3 POUT2 A4 NC B4 POUT3 A5 PIN0 Inputs Point No sele...

Page 94: ...n2 PIN2 RXn2 POUT2 RYn3 PIN3 RXn3 POUT3 RYn4 PIN4 RXn4 POUT4 RYn5 PIN5 RXn5 POUT5 RYn6 PIN6 RXn6 POUT6 RYn7 PIN7 RXn7 POUT7 RYn8 JOG JOG movement direction RXn8 OUT0 Control output RYn9 JOG JOG movement direction RXn9 OUT1 RYnA MANUAL MANUAL mode RXnA OUT2 RYnB ORG Return to origin RXnB OUT3 RYnC LOCK Interlock RXnC BUSY Operation in progress RYnD START Start RXnD END Operation end RYnE RESET Rese...

Page 95: ...ut remote registers Inputs Master Remote Output Remote Master Address Signal Name Description Address Signal Name Description RWwn WIN0 Execution command RWrn WOUT0 Status RWwn 1 WIN1 Command option RWrn 1 WOUT1 Command response RWwn 2 WIN2 RWrn 2 WOUT2 RWwn 3 WIN3 RWrn 3 WOUT3 n Value determined by CC Link station No setting ...

Page 96: ... bit8 OUT0 Control output bit9 JOG Jog movement direction bit9 OUT1 bit10 MANUAL Manual mode bit10 OUT2 bit11 ORG Return to origin bit11 OUT3 bit12 LOCK Interlock bit12 BUSY Operation in progress bit13 START Start bit13 END Operation end bit14 RESET Reset bit14 ALM Alarm bit15 SERVO Servo ON bit15 SRV S Servo status m 1 bit0 n 1 bit0 bit1 bit1 bit2 bit2 bit3 bit3 bit4 bit4 bit5 bit5 bit6 bit6 bit7...

Page 97: ...nt direction bit8 OUT0 Control output bit9 JOG Jog movement direction bit9 OUT1 bit10 MANUAL Manual mode bit10 OUT2 bit11 ORG Return to origin bit11 OUT3 bit12 LOCK Interlock bit12 BUSY Operation in progress bit13 START Start bit13 END Operation end bit14 RESET Reset bit14 ALM Alarm bit15 SERVO Servo ON bit15 SRV S Servo status m 1 bit0 n 1 bit0 bit1 bit1 bit2 bit2 bit3 bit3 bit4 bit4 bit5 bit5 bi...

Page 98: ...set Relative positioning remaining movement amount clear SERVO Servo ON ON servo on OFF servo off Outputs POUT0 to POUT7 Point No output 0 to 7 Outputs the point No of the positioning operation Outputs the alarm No of the alarm which occurred OUT0 Control output 0 Assigns the following outputs by I O parameter setting Zone output Personal zone output MANUAL mode status Return to origin end status ...

Page 99: ... K17 is set to Enable This cannot be assigned when in MANUAL mode MANUAL ON c CAUTION This function is available from controller s software version 1 06 111 onwards n NOTE Refer to section 3 8 Speed switch function in Chapter 5 for more details MANUAL The MANUAL mode is established when this input switches ON The MANUAL mode status is output to MANU S ORG This input executes a return to origin ope...

Page 100: ...een eliminated the alarm status is cleared when this signal is switched ON After the alarm status clears the ALM signal switches ON Some alarm statuses cannot be cleared by the RESET signal See Chapter 6 Troubleshooting 2 Point No output clear The POUT0 to POUT7 outputs are reset all points OFF 3 Relative positioning s remaining movement amount clear When restarted after a relative positioning sto...

Page 101: ...5 ZONE Zone output 6 MOVE Movement in progress 7 WARN Warning output 8 MANU S MANUAL mode status BUSY This signal is ON while operation is in progress TIP The BUSY ON conditions are operation in progress OR RUN command input in progress This signal also switches ON during magnetic pole detection at first servo ON TS P only END Outputs the operation s execution result This signal switches OFF durin...

Page 102: ...nly when assigned to one of the OUT0 to OUT3 control outputs ZONE This signal switches ON only while the current position is within the zone specified by the Zone and Zone parameters and it can be used to verify the robot position at the host unit or to identify zones where movement is permitted or prohibited etc This signal is enabled only when assigned to one of the OUT0 to OUT3 control outputs ...

Page 103: ...tes 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...

Page 104: ...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 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 configuratio...

Page 105: ...ON At this time END switches ON and BUSY switches OFF 9 The PIN0 to PIN7 inputs occur 10 The START input switches ON after the Td delay period elapses 11 The END signal switches OFF when positioning begins and BUSY switches ON 12 The START input switches OFF 13 The END signal switches ON when positioning ends and BUSY switches OFF The specified positioning point No is output this output is also po...

Page 106: ... PIN7 inputs occur 10 The START input switches ON after the Td delay period elapses 11 The END signal switches OFF when positioning begins and BUSY switches ON 12 The START input switches OFF 13 The END signal switches ON when positioning ends and BUSY switches OFF The specified positioning point No is output this output is also possible when the robot starts moving 1 For details regarding how to ...

Page 107: ...N after the Td delay period elapses 11 The END signal switches OFF when positioning begins and BUSY switches ON 12 The START input switches OFF 13 The END signal switches ON when positioning ends and BUSY switches OFF The specified positioning point No is output this output is also possible when the robot starts moving 1 For details regarding how to configure emergency stop and main power related ...

Page 108: ...ut 200ms after recognizing a normal state and then start operation If the time delay is short the controller output information may not be read correctly so the operation cannot start normally Field network Servo ON SERVO Alarm ALM Communication status 200ms or less Data undefined region Data undefined region Communication error 23501 M0 00 In the case of CC Link the time delay is not required if ...

Page 109: ...also switch OFF at this time and the alarm No is output END remains OFF 2 The SERVO input switches OFF 3 The RESET input switches ON after the alarm cause has been eliminated 4 ALM and END switch ON 5 The RESET input switches OFF and the SERVO input switches ON 6 SRV S switches ON and the START input is enabled 1 RESET is enabled after the alarm cause has been eliminated Although some alarms can b...

Page 110: ...has been executed further return to origins are not required at subsequent power ONs because the origin position information is saved Stroke end torque detection method Movement in the return to origin direction occurs when a return to origin begins and continues until the mechanical end is struck The movement direction is reversed at that time by motor torque detection and returns by an amount wh...

Page 111: ...forms an absolute search on the scale when an origin search return to origin command is input and determines the absolute position with just a minimal movement Using this scale drastically reduces the time needed for return to origin operation by PHASER series robots especially those with long stroke movements l Incremental Controls an incremental type robot A return to origin operation for the ro...

Page 112: ...gain determined the robot stops to complete the absolute search The distance L that the robot moves in the return to origin direction is a maximum of 76mm Return to origin direction K14 0 CCW Return to origin direction K14 1 CW S L side K13 L L S L side K13 R side R side S Return to origin start position K13 Return to origin speed Absolute search 23504 M2 00 When the stroke end method is used to d...

Page 113: ... is again determined the robot stops to complete the absolute search The distance L that the robot moves in the return to origin direction and in the opposite direction is a maximum of 76mm Sensor Sensor 3 S K1 L L K13 S L side R side S Return to origin start position K13 Return to origin speed R side L side Return to origin direction K14 0 CCW Return to origin direction K14 1 CW Absolute search o...

Page 114: ...obot using the stroke end torque or sensor method a slight difference in distance occurs between the position where the origin signal is detected and the reference position of the motor s position sensor This difference is called the machine reference and is usually expressed as a percent The machine reference is factory adjusted to within 25 to 75 The adjustment range varies according to the robo...

Page 115: ...the current stop position is 50mm RUN type ABS 50mm 300mm Current position Origin point Target position 23506 M0 00 2 When the RUN type is INC Positioning occurs with the value defined by the position data representing the amount of movement from the current stop position Example If positioning to the 300mm position is specified when the current stop position is 50mm RUN type INC 50mm 350mm Moveme...

Page 116: ...tion value is used as the setting value Point type Custom setting Speed Time Speed Acceleration Deceleration Speed setting range 0 01 to 1200 00 mm s The max setting value is the max speed of each robot type Max speed 1200 00 mm s Max acceleration 8 00 m s2 Max payload acceleration 4 00 m s2 Acceleration setting range 0 01 to 8 00 m s2 The max input value is the max speed of each robot type The ma...

Page 117: ...ame in cases where the actual operation speed reaches the robot s maximum speed but in all other cases the optimum acceleration is calculated for the positioning operation In the Custom setting point type the specified acceleration setting becomes the actual operation acceleration unless it exceeds the maximum payload acceleration In that case it is limited by the maximum payload acceleration the ...

Page 118: ...ut switches ON after the Td delay period elapses 3 When positioning begins the END signal switches OFF and the BUSY signal switches ON 4 The START input switches OFF 5 When positioning ends the BUSY signal switches OFF and the END signal switches ON TIP The BUSY ON conditions are operation in progress OR RUN command input in progress Point No setting conditions A delay time Td is provided between ...

Page 119: ... For error end If an error occurs before positioning ends operation stops and the BUSY signal switches OFF The END signal remains OFF Operation in progress BUSY START Operation end END 00h 00h Point No select PIN0 to PIN7 Setting 00h Point No output POUT0 to POUT7 Error occurrence Point No outputs For error end 23515 M0 00 An error end condition can be caused by the following conditions Type Cause...

Page 120: ...BS merge 200 10 100 100 2 P2 ABS merge 400 100 100 100 3 P3 ABS 500 30 100 100 0 n NOTE Select ABS merge or INC merge as the RUN type then set the next point to be merged at the Jump item Even if a merge RUN type is selected merging will not occur if the Jump setting is 0 In this case standard positioning occurs If the merge destination target positions are in both the forward and reverse directio...

Page 121: ... M0 00 c CAUTION In the example shown above a sufficient period of time required for the acceleration or deceleration during operation cannot be taken causing the robot operation to malfunction Additionally when the movement direction of the merge destination is reversed the sufficient acceleration deceleration distance cannot be kept To reverse the movement direction finish the positioning operat...

Page 122: ... the robot a problem may occur if the movement speed is high Set the push speed to meet the following conditions Speed during push operation 20 00 mm s n NOTE At Ver 1 02 102 and later controllers the maximum push operation speed is limited according to the push speed Push force The push force is specified as a percentage of the rated current for each robot type l About maximum push force A thrust...

Page 123: ...elected as another push operation push continue or as a positioning operation This selection is made at the K4 push mode RUN parameter Default setting Push continue Push failure judgment If positioning to the target position is completed before the push judgment has ended this is processed as a push failure This push failure function can be enabled disabled by the K4 push mode RUN parameter settin...

Page 124: ...Time Speed Target position Torque Operation end END Push force Push judgment time K5 Push speed K6 Near width output NEAR Torque limit zone Push status TLM S 23521 M0 00 n NOTE The push force push judgment time operation after the push judgment and push failure judgment etc settings are specified in the same manner as for a standard push operation The torque limit remains in effect until the next ...

Page 125: ...n 2 Timer 1 Timer 2 Operation in progress BUSY Operation end END 00h Operation 1 response Point No output POUT0 to POUT7 Operation 2 response Operation 3 response 23522 M0 00 Point data settings No RUN type Position mm Speed Accel Decel Jump Timer sec P1 ABS 200 100 100 100 2 500 P2 ABS 400 30 100 100 3 1000 P3 ABS 500 30 100 100 0 0 n NOTE The next positioning point No for continuous operation is...

Page 126: ...one output PZONE Near width output NEAR Zone Zone Near width 23523 M0 00 Personal zone output PZONE This output switches ON when the current position enters the zone of each point Near width NEAR This output switches ON when the current position enters the near width zone near target position zone Movement in progress output MOVE This output is ON while robot movement is in progress The minimum sp...

Page 127: ...the speed calculated by multiplying the current speed by the value specified at Switched speed K18 SPD Speed OFF Speed 1 Specified speed ON Speed 2 Specified speed Switched speed K18 100 n NOTE Cannot be assigned in the manual mode MANUAL ON Specified speed means speed data specified at each point data speed override K9 100 Timing chart Operation in progress BUSY START Switched speed SPD Speed 1 S...

Page 128: ...e operation type is ABS or ABS Push When the limitless rotation function is selected the positioning merge operation cannot be performed When the limitless rotation function is executed with ABS Merge INC Merge ABS Push or INC Push set for the operation type the error alarm 4B LIMITLESS ERROR occurs The JOG operation stops temporarily when it steps over the 0 360 boundary The maximum movable range...

Page 129: ...m Speed Accel Decel Flag P1 ABS 200 100 100 100 1 P2 ABS 500 100 100 100 0 A P1 P2 positioning occurs B Return to P1 500 00mm s 250 00mm s Speed Position P2 500mm P1 200mm Setting example 2 Movement between 2 points custom setting A B 23526 M0 00 No RUN type Position mm Speed Accel Decel P1 ABS 200 250 00 4 00 100 P2 ABS 500 500 00 4 00 50 A P1 P2 positioning occurs B Return to P1 ...

Page 130: ... 100 100 100 A P1 P2 positioning occurs B Pitch feed corresponding to the P3 movement amount occurs C Return to P1 Speed Position P1 0mm 100 100 10 P2 200mm P4 500mm P3 400mm Setting example 4 Merge operation A B 23528 M0 00 No RUN type Position mm Speed Accel Decel Jump P1 ABS 0 100 100 100 0 P2 ABS Merge 200 100 100 100 3 P3 ABS Merge 400 10 100 100 4 P4 ABS 500 100 100 100 0 A Merge operation f...

Page 131: ...ding to the P3 movement amount occurs C Return to P1 P1 0mm 1000 00mm s 1000 00mm s P2 450mm 100mm Speed Position P3 350mm Push speed K6 Workpiece Setting example 6 Workpiece push A B C 23530 M0 00 No RUN type Position mm Speed Accel Decel Push Force Near Width mm P1 ABS 0 1000 00 4 00 100 100 1 00 P2 ABS Push 450 1000 00 4 00 100 70 100 00 P3 ABS 350 100 00 1 00 100 100 1 00 A P1 P2 push operatio...

Page 132: ...ing TEACH Operation end END Td 00h Point No select PIN0 to PIN7 Setting 00h MANUAL mode MANUAL MANUAL mode status MANU S Interlock LOCK JOG plus direction movement JOG JOG minus direction movement JOG 2 1 3 MANUAL mode 23531 M0 00 1 The MANUAL mode is established while the MANUAL input is ON 2 The MANU S output can be assigned to the OUT0 to OUT3 control outputs This requires the assignments to be...

Page 133: ...th K11 23532 M0 00 l When the K32 JOG response time I O parameter is set as 0 Movement continues at the JOG speed K10 until the JOG input switches OFF l When the K32 JOG response time I O parameter is set as other than 0 Movement corresponding to the inching amount K11 occurs at the leading edge of the JOG movement input ON and after the JOG response time elapses movement continues at the JOG spee...

Page 134: ...t position to a point for which data does not exist No RUN type Position mm Speed Accel Decel Flag P3 TEACH No RUN type Position mm Speed Accel Decel Flag P3 ABS 210 100 100 100 0 The current position is written to the position data and default values are adopted for the other data Point No setting conditions An appropriate period of delay time must be provided between the point No input and the c...

Page 135: ...o Signal Name Description m 2 WIN0 Execution command n 2 WOUT0 Status m 3 WIN1 Command option n 3 WOUT1 Command response m 4 WIN2 n 4 WOUT2 m 5 WIN3 n 5 WOUT3 m n These values are determined in accordance with the channel setting 5 2 Remote command list Query Name Command Command Option Command Response WIN0 WIN1 WIN2 WIN3 WOUT1 WOUT2 WOUT3 Current position read 0100h 0000h Current position Curren...

Page 136: ...after writing each of these data items The permissible point No setting range at the command option is 1 0001h to 255 00FFh When a command is executed a point No answerback is returned to the command response WOUT1 Point data reading Name Command Command Option Command Response WIN0 WIN1 WIN2 WIN3 WOUT1 WOUT2 WOUT3 Operation type read 0300h Point No Point No Operation type Position read 0301h Poin...

Page 137: ... K3 read 0500h 0003h In position data Push mode K4 read 0500h 0004h Push mode Push judge time K5 read 0500h 0005h Push judge time data Push speed K6 read 0500h 0006h Push speed data Zone K7 read 0500h 0007h Zone data Zone K8 read 0500h 0008h Zone data Speed override K9 read 0500h 0009h Speed override JOG speed K10 read 0500h 000Ah JOG speed Inching width K11 read 0500h 000Bh Inching width MOVE out...

Page 138: ... Command has been received and is being executed Command end 0200h Command ended normally Command error end 40xxh Command ended in error alarm The error alarm No is output as the xx value n NOTE When a command error end 40xxh condition occurs the alarm No is output as the xx value For details regarding alarm numbers and alarm meanings see section 4 Alarms Possible causes and actions in Chapter 6 E...

Page 139: ... 0000h 0000h 0100h 0100h Command response WOUT1 0000h 0001h 1 0001h 1 Command response WOUT2 WOUT3 00000000h 00002710h 10000 Example Executing position writing reading 23535 M0 00 When executing parameter data writing reading Status WOUT0 Command WIN0 Command option WIN1 Command option WIN2 WIN3 Command response WOUT2 WOUT3 0000h 0200h 0100h 0000h 0400h 0000h 0009h Td 0200h 0100h 0500h 0009h Td 00...

Page 140: ...T2 WOUT1 WOUT0 Data 0200h n NOTE The Data is output as 2 word Little Endian data Command type and response data Command WIN0 Command Option Command Response Units Type WIN1 Data WOUT2 WOUT3 0100h 0000h Current position Other than TS P 0 01mm TS P 0 001mm 0001h Current speed 0 01mm s 0002h Electrical current 0009h Voltage 0 1V 000Ah Temperature C 000Dh Current point No 000Eh Load rate 0100h Bit sta...

Page 141: ...04h 1 0001h Deceleration RAM 0205h to Push force RAM 0206h 255 00FFh Zone Other than TS P 0 01mm TS P 0 001mm ROM 0207h Zone Other than TS P 0 01mm TS P 0 001mm ROM 0208h Near width Other than TS P 0 01mm TS P 0 001mm ROM 0209h Jump ROM 020Ah Flag ROM 020Ch Timer ms ROM c CAUTION Because an EEPROM is used as the ROM the number of writing operations is limited Users should therefore refrain from wr...

Page 142: ... Unit Point No WIN1 Data WOUT2 WOUT3 Standard Setting Custom Setting 0300h Operation type 0301h Position Other than TS P 0 01mm TS P 0 001mm 0302h Speed 0 01mm s 0303h Acceleration Other than TS P 0 01m s2 TS P 0 001m s2 0304h 1 0001h Deceleration 0305h to Push force 0306h 255 00FFh Zone Other than TS P 0 01mm TS P 0 001mm 0307h Zone Other than TS P 0 01mm TS P 0 001mm 0308h Near width Other than ...

Page 143: ...S P 0 01mm TS P 0 001mm 0008h ZONE K8 Other than TS P 0 01mm TS P 0 001mm 0009h Speed override K9 000Ah JOG speed K10 000Bh Inching width K11 Other than TS P 0 01mm TS P 0 001mm 000Ch MOVE output level K12 0 01mm s c CAUTION The number of write processes is limited since the parameter dada is written into the EEPROM So avoid writing parameter data unnecessarily Additionally the write target is a p...

Page 144: ...Other than TS P 0 01mm TS P 0 001mm 0004h Push mode K4 0005h Push judge time K5 ms 0006h Push speed K6 0 01mm s 0007h ZONE K7 Other than TS P 0 01mm TS P 0 001mm 0008h ZONE K8 Other than TS P 0 01mm TS P 0 001mm 0009h Speed override K9 000Ah JOG speed K10 000Bh Inching width K11 Other than TS P 0 01mm TS P 0 001mm 000Ch MOVE output level K12 0 01mm s TIP For parameter data details see section 4 Pa...

Page 145: ...0Dh Current point No 000Eh Load rate 0100h Bit status Timing chart Status WOUT0 0000h 0000h 0200h Command option WIN1 0000h 0000h 0000h Command WIN0 0000h 8100h 0000h Command response WOUT2 WOUT3 00000000h Data updating Stop Td Timing chart For a current position continuous query 23540 M0 00 Data updates occur every 5ms Data updates continue until a 0x0000 status clear command is specified Data up...

Page 146: ...orm the positioning operation Data destination type 2 222 Input Command Option Command WIN3 WIN2 WIN1 WIN0 Position data Speed data 1800 n h Output Command Response Status WOUT3 WOUT2 WOUT1 WOUT0 0200 n h n Point number In the data designation type 2 the speed data to be specified and the position data to be specified are registered using WIN1 and WIN2 3 respectively based on the information regis...

Page 147: ...h 0000h 0201h Status WOUT0 Speed data WIN1 Command WIN0 Operation end END Operation in progress BUSY Td 23542 M0 00 Timing chart Abnormal end Use the data designation type 2 to specify P1 10000 100 00mm and 50 are for the point number position and speed respectively Position data WIN2 WIN3 0000 0000h 0000 2710h 00000000h 0000h 0032h 0000h 0000h 1801h 0000h 0000h 0101h 0000h 4045h Status WOUT0 Spee...

Page 148: ...nd Option Command WIN3 WIN2 WIN1 WIN0 0E00h Output Command Response Status WOUT3 WOUT2 WOUT1 WOUT0 0200h Brake ON 222 Turns the brake on Input Command Option Command WIN3 WIN2 WIN1 WIN0 0E01h Output Command Response Status WOUT3 WOUT2 WOUT1 WOUT0 0200h n NOTE These functions were added starting with controller version V1 13 131 ...

Page 149: ...tatus is changed to the command ready while continuing the data output to WOUT2 3 by executing the continuous query Input Command Option Command WIN3 WIN2 WIN1 WIN0 8000h Output Command Response Status WOUT3 WOUT2 WOUT1 WOUT0 Data continuous query response 0000h n NOTE This function is available from controller s software version Ver 1 11 125 Command response clear 333 The command response is clea...

Page 150: ... Controller Controller PC NRM mode NRM mode safety MON mode MON mode safety DBG mode DBG mode safety Permitted Prohibited When in a mode safety status the robot operation is limited to the low speed c CAUTION Normal mode allows operation by I O control and communication control However if an operation is attempted by one control method while operated by the other method unexpected operation may oc...

Page 151: ...get position outside the soft limit NG prohibited 3 Movement from a stop position outside the soft limit to a target position within the soft limit OK permitted w WARNING Soft limit function is not a safety related function intended to protect the human body To restrict the robot movement range to protect the human body use the mechanical stoppers installed in the robot or available as options 7 2...

Page 152: ...sitioning operations based on the payload which has been defined However in conveyance systems the payload can vary greatly depending on whether or not the conveyance objects are loaded or not In such cases selection is possible from 2 payload types for each operation The payload selection is made at each point data s Flag setting Item Setting Description Payload select Flag bit0 0 Payload 1 K76 a...

Page 153: ...ION In the open mode correction of the stop position will not be made if the position has been shifted by an external force etc because the feedback control is not done in this mode When the stop mode is switched from closed to open mode the stop position may change to a certain degree due to the effect of the step angle 7 6 Magnetic pole position estimation TS P The magnetic pole position is esti...

Page 154: ...able shows the LED statuses and their meanings LED Name Color Status Meaning PWR Blue OFF Control power shutoff Blinking at 0 5sec intervals Servo OFF ON constant ON Servo ON ERR Red OFF Control power shutoff or no active error alarms normal Blinking at 0 5sec intervals Error alarm active external cause ON constant ON Error alarm active internal cause ...

Page 155: ...p or hard object Doing so might cause the LCD panel to break The liquid liquid crystal contained in the LCD panel is a hazardous substance If this fluid leaks from the LCD panel due to damage and adheres to your skin or clothing wash it off immediately with soap and water After that consult a physician 9 2 Opening or closing the TS Monitor You can open or close the TS Monitor regardless of the con...

Page 156: ...o the MAIN screen At this time if any alarm has already occurred the screen does not change to the MAIN screen Additionally if an error alarm occurs the screen color will change For details see section 9 5 Screen color in case of alarm When turning on the power while holding down the button the SETUP screen will start up On the SETUP screen you can make the LCD setting For details see section 9 6 ...

Page 157: ...e Point type The display is an example 24502 M1 00 Point type Display Meaning NORMAL Normal setting CUSTOM Custom setting MAIN screen MAIN is displayed in the page name area at the uppermost portion on the MAIN screen DBG S S O E L P A MAIN TS MONITOR POS 0 000 mm MAIN screen in normal operation Current position Run mode Simple status display ON OFF Desired character string specified by the user T...

Page 158: ...alarm occurs OFF Alarm is occurring Run mode Display Meaning NRM Normal mode MON Monitor mode DBG Debug mode NRM S Normal mode safety MON S Monitor mode safety DBG S Debug mode safety I O screen I O is displayed in the page name area at the uppermost portion on the I O screen 1 O 2 3 4 5 6 7 9 8 A B C D E F 1 O 2 3 4 5 6 7 9 8 A B C D E F I O IN OUT ON OFF I O screen Input signal status Displays t...

Page 159: ...lays the emergency stop status ON Emergency stop status P BLK Main power failure Displays the main power voltage drop ON Main power voltage drop ORG S Return to origin completion status Displays the return to origin completion status ON Return to origin complete status OFF Return to origin incomplete status WARN Warning output Displays the warning alarm occurrence status ON Warning is occurring OF...

Page 160: ...n ORG Return to origin CHECK screen CHECK is displayed in the page name area at the uppermost portion on the CHECK screen CHECK VOLT 270 0 V TEMP 36 TIME 4 01 23 DIST 15 827 km CHECK screen Internal voltage of controller Temperature inside controller Total startup time of controller Day Hour Minute Total movement distance of robot 24508 M1 00 SETUP screen SETUP is displayed in the page name area a...

Page 161: ...able below Status Meaning Blinks in blue at intervals of 0 5 sec Servo is off and no error alarm occurs Lit in blue Servo is on and no error alarm occurs Blinks alternately in red and blue at intervals of 0 5 sec Error alarm is occurring External factor Lit in red Error alarm is occurring Internal factor Goes off when the backlight turns off or after a specified period of time has elapsed ...

Page 162: ... then press the button After that you can change the item you have selected LCD SETUP CONTRAST 3 BACK LIGHT ON LCD SETUP CONTRAST 3 BACK LIGHT ON Selected item becomes changeable Step 3 24511 M1 00 4 Change the setting Change the setting with the button and press the button to set the setting you have changed To change other setting item repeat Steps 2 to 3 CONTRAST Set a contrast in steps of 1 to...

Page 163: ...Chapter 6 Troubleshooting Contents 1 Alarm groups 6 1 2 Alarm recording function 6 2 3 Alarm list 6 3 4 Alarms Possible causes and actions 6 4 ...

Page 164: ......

Page 165: ...nternal cause Alarm that occurs due to internal causes To resume operation after eliminating the cause of the problem you must reset the alarm or turn the power off and back on again An alarm description is stored in the alarm history Error alarm external cause Alarm that occurs due to external causes Alarm occurs when safety circuit is triggered Operation can resume after eliminating the cause Wa...

Page 166: ...with the smaller alarm No is stored Time Total time counted while control power was on Day hour minute Position Current position information when an alarm occurred mm Speed Speed at which robot was moving when alarm occurred mm s Run status Run type that was selected when alarm occurred Run point Point number that was selected for operation when alarm occurred When not in operation a 0 zero is ent...

Page 167: ...AD Reset 87 OVERVOLTAGE Reset 88 LOW VOLTAGE Reset 89 POSITION ERROR Reset 8A ABS BATTERY ERR TS X TS SH Reset 8B ABS COUNT ERROR TS X TS SH Reset 8C ABS ME ERROR TS X TS SH Reset 8D ABS OVERFLOW ERR TS X TS SH Reset 8E OVERCURRENT Reset 8F MOTOR CURRENT ERR Reset 90 POLE SEARCH ERROR TS P Reset 91 INT COMM ERROR Reset 92 CPU ERROR Reset 93 I O FAULT Reset 3 94 MOTOR CABLE ERROR TS S2 TS SH Reset ...

Page 168: ...t data Positioning operation must be performed using registered point data 44 SOFTLIMIT OVER Software limit was exceeded Positioning operation attempted to move to a point exceeding the soft limits Adjust the target position so that it is within the soft limits 45 INTERLOCK Interlock was activated Operation was attempted while LOCK was off Release the interlock and then start operation LOCK was tu...

Page 169: ...t failed Replace the controller 85 OVERHEAT Temperature protection level 90 C was exceeded Ambient temperature is above 40 C Check the ambient condition Thermal sensor failed Replace the controller 86 OVERLOAD Overload detection level was exceeded Rated current was exceeded Reduce the load Set the payload correctly Lower the duty cycle Robot drive system collided with some objects Check the operat...

Page 170: ...e is disconnected Connect the motor cable correctly Motor cable broke or failed Replace the motor cable Motor failed Replace the motor Wrong robot setting Make correct robot setting 90 POLE SEARCH ERROR TS P Failed to estimate the magnetic pole position Magnetic pole position was estimated while external force was applied Recheck the surrounding environment where the robot is used 91 INT COMM ERRO...

Page 171: ...Ensure safety and then cancel the safety circuit Main power was not supplied Supply the main power correctly Warning alarms No Message Meaning Possible Cause Action F1 ABS BATTERY LOW TS X TS SH Absolute battery voltage dropped below the warning level 3 1V Absolute battery has worn out or failed Replace the absolute battery F2 PUSH WARNING Failed to push a workpiece Push operation was judged as a ...

Page 172: ......

Page 173: ...3 1 3 Dimensional outlines 7 5 2 I O interface specifications 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 specifications TS X TS P 7 10 3 1 Basic specifications 7 10 3 2 Dimensional outlines with TS Monitor TS X TS P 7 10 4 Regenerative unit specifications 7 12 4 1 Dimensional outlines RGT 7 12 4 2 Dimensional outlines RGU 2 7 12 ...

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Page 175: ...OCK origin search ORG manual mode MANUAL jog motion JOG jog motion JOG point number selection PIN0 to PIN7 Output Servo status SRV S alarm ALM operation end END operation in progress BUSY control output OUT0 OUT3 point number output 0 to 7 POUT0 POUT7 Communication RS 232C 1 channel Power for brake Emergency stop circuit Emergency stop input emergency stop contact output 1 system When the HT1 is u...

Page 176: ...input coordinate input teaching direct teaching I O interface Selectable from the following NPN PNP CC Link DeviceNet EtherNet IP Input Servo ON SERVO reset RESET start START interlock LOCK origin search ORG manual mode MANUAL jog motion JOG jog motion JOG point number selection PIN0 to PIN7 Output Servo status SRV S alarm ALM operation end END operation in progress BUSY control output OUT0 OUT3 p...

Page 177: ...RD03 SRD04 SRD05 STH STH04 STH06 RF RF02 RF03 RF04 BD BD04 BD05 BD07 FLIP X Series T T4H T4LH T5H T5LH T6 T6L T9 T9H F F8 F8L F8LH F10 F14 F14H F17 F17L 1 F20 N N15 1 N18 1 B B10 B14 B14H R R5 R10 R20 C C4H C4LH C5H C6 C8 C8L C8LH C10 C14 C14H C17 C17L 1 C20 PHASER Series MR MR12 12A MR16 16A MF MF7 7A MF15 15A MF20 20A 1 MF30 30A 1 MF50 50A 1 MF75 75A 2 1 Requires the RGT regenerative unit 2 Requ...

Page 178: ...SB LB RB SSC04 SSC05 SSC05H S Stroke end method SB SG07 S Stroke end method SB SR03 SR04 SR05 S L R U Stroke end method SB LB RB UB SRD03 SRD04 SRD05 S U Stroke end method SB UB STH04 STH06 S L R Stroke end method SB LB RB RF02 RF03 RF04 NNN NNH NHN NHH Stroke end method SNN SNH SHN SHH Sensor method BD04 BD05 BD07 Stroke end method SG07 is available only for TS SH c CAUTION Do not use different c...

Page 179: ...s R 152 5 82 70 30 5 5 25 φ4 5 4 5 162 152 Units mm TS S Dimensional outlines TS S2 23701 M3 00 Units mm Dimensional outlines TS SH 70 123 152 5 25 φ4 5 4 5 30 R 4 12 162 35 2 DIN rail width is 35mm 4 80 7 Center position of DIN rail 23701 M5 00 ...

Page 180: ...67 58 152 φ5 4 5 5 4 4 8 EXT connector 53 162 R Units mm TS X TS P 105 110 205 210 Dimensional outlines 23701 M1 00 Units mm 131 167 90 162 58 70 4 53 5 4 5 152 8 EXT connector R φ5 4 TS X TS P 220 Dimensional outlines 23702 M1 00 ...

Page 181: ... SD RD LED indicators L RUN L ERR SD RD Operation Communication is normal but CRC errors occasionally occur due to noise 0 4s Either the baud rate or node No setting was changed from that which existed when the status was cleared by a reset Implausible operation status CRC error in reception data and response is not possible Implausible operation status Normal communication Implausible operation s...

Page 182: ...essage divided transmission support Yes Network length Total extension length Branch line length Total branch line length 500Kbps 100m 6m or less 39m or less 250Kbps 250m 6m or less 78m or less 125Kbps 500m 6m or less 156m or less Number of input output points Inputs 6CH Outputs 6CH LED indicators Type Indication Status Description MS module status OFF Power OFF status Green ON Normal initializing...

Page 183: ...tors MS Module status 111 Indicates the status of the EtherNet IP unit Indication Status Description OFF Power OFF status Green ON Correct status Green blinking Connection not established Red blinking Illegal connection setting Red ON Hardware error NS Network status 222 Indicates the status of the network Indication Status Description OFF Power OFF or no IP address Green ON Connection established...

Page 184: ...d 2 color LCD Contrast adjustment 5 steps Number of display dots 128 64 dots Outside dimensions of controller TS X TS P105 110 205 210 with TS Monitor W58 H162 D137 5 mm TS X TS P220 with TS Monitor W70 H162 D137 5 mm 3 2 Dimensional outlines with TS Monitor TS X TS P 162 167 58 152 φ5 4 5 83 5 8 53 5 4 4 137 5 Dimensional outlines EXT connector R Units mm TS X TS P 105 110 205 210 with TS Monitor...

Page 185: ...7 Specifications 7 11 162 167 58 152 φ5 4 5 83 5 137 5 8 EXT connector 53 70 5 4 4 Units mm R Dimensional outlines TS X TS P 220 with TS Monitor 23704 M1 00 ...

Page 186: ... Regenerative unit specifications 4 1 Dimensional outlines RGT RGEN 2 120 30 15 142 152 162 φ5 5 R2 75 Units mm RGT 23705 M1 00 4 2 Dimensional outlines RGU 2 P N RGEN 250 290 40 157 265 5 5 16 250 Units mm RGU 2 23701 M2 00 ...

Page 187: ... 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...

Page 188: ...ing 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 Specifications A 40 9 1 Basic specifications A 40 9 2 Dimensional outlines A 40 9 2 1 HT1 A 40 9 2 2 HT1 D A 41 ...

Page 189: ...ith ENABLE switch Handy Terminals that come with the TS series robot controller as an option Before reading this section read the precautions and descriptions stated in the Controller Guide main part of this manual to understand the point data and parameter data as well as controller functions and usage ...

Page 190: ...rameters for options such as CC Link 5 3 Servo parameters Set parameters such as payload etc 5 4 Robot operation Servo status Turn the servo on or off 6 1 Origin search Return the robot to its origin position 6 2 Positioning Move the robot to position it at a specified point 6 3 Jog Move the robot in jog mode or inching mode with the Jog keys 4 1 Display function I O monitor Display I O signal sta...

Page 191: ...erations for more details Connection cable This cable connects to the controller One end of this cable is terminated with an 8 pin MD connector male Plug this cable into the COM1 connector on the controller front panel Data edit keys Use these keys to select menus and edit various data Refer to section 3 Basic operations for more details HT1 panel layout 23A01 M0 00 w WARNING Do not push or strike...

Page 192: ...he circuit when pressed or released Pressing this switch to mid position enables the circuit Safety connector HT1 D only Use this connector along with the emergency stop or ENABLE switch to configure an external safety circuit Refer to section 1 2 Connecting to the external safety circuit HT1 D for more details Rear view HT1 D 23A02 M0 00 ...

Page 193: ...onnector directly to the safety connector on the HT1 D enables the emergency stop button only 15 pin D sub connector female KS9 M532A 000 23A04 M0 00 ピン番号 1 2 3 4 15 If not using the HT1 D then attach this connector directly to the 15 pin D sub connector on the external safety circuit so that the emergency stop circuit is shorted 15 pin D sub connector male KS9 M532E 001 23A05 M0 00 c CAUTION Set ...

Page 194: ...ctor pins 2 1 Connecting to the controller 1 Connect the HT1 cable to the COM1 connector on the controller front panel Connection HT1 Controller Align the arrow mark on the HT1 cable connector with the rectangular mark of the COM1 connector left of the connector as viewed from the front and insert the HT1 cable connector straight into the COM1 Grip the connector body and insert it into the COM1 Co...

Page 195: ...tion 23A07 M0 00 c CAUTION Disconnecting the HT1 while the controller power is on will trigger emergency stop and the robot servo will turn off When not using the HT1 When not using the HT1 plug the dummy connector supplied with the controller into the COM1 connector Dummy connector for COM1 Controller Dummy connector 23A08 M0 00 c CAUTION When not using the HT1 always attach the dummy connector t...

Page 196: ...e menu area Enable the entry you selected or changes you made n NOTE The HT1 has no number keys Use and to enter increment or decrement numbers Refer to section 3 4 How to enter numbers Run stop keys Keys Use the key to RUN Start moving the robot to perform origin search return to origin or positioning Obtain the current position and store it in specified point data teaching Turn the servo on or o...

Page 197: ...t Perform point teaching or edit point data Operation Turn the servo on or off or return the robot to its origin or perform operation Parameter Edit parameters relating to operation and I O settings Monitor Display I O status operation status alarm history etc Run mode Switch between Normal mode Monitor mode and Debug mode Connection This is not currently used Terminal Make adjustments factory adj...

Page 198: ...ion 3 Speed 4 Accel 5 Decel 6 Push ABS 100 00 100 100 100 100 mm RUN Teaching JOG Current pos 128 00 mm Point teaching S 100 NRM 01 Run mode display Run mode display 24A04 M0 00 Abbreviation Run mode NRM Normal mode MON Monitor mode DBG Debug mode NRM S Normal mode safety MON S Monitor mode safety DBG S Debug mode safety TIP Run mode can be changed from the HT1 Refer to section 8 1 Operation mode ...

Page 199: ... mm P 1 7 Zone 8 Zone 9 Near width 10 Jump 11 Flag 12 Call 0 00 0 00 1 00 0 0 0 Point edit NRM 01 Displays point data items Page 1 Page 2 Point number row Point edit screen Step 2 24A06 M0 00 3 Select the point number you want to edit There are 2 methods for selecting a point number 1 Increment or decrement the point number Pressing or will increment or decrement the point number When P1 is displa...

Page 200: ...100 100 100 mm ABS INC Point edit NRM 01 ABS 100 00 100 100 100 100 mm FUNC change the sign Point edit P 1 1 Run type 2 Position 3 Speed 4 Accel 5 Decel 6 Push NRM 01 Data for the selected item is left aligned showing it can be edited Selectable options for Run type are displayed here If there are 3 or more options press or to view them When Run type is selected Step 6 When Position is selected Da...

Page 201: ... Follow steps 5 to 7 to set the necessary data items n NOTE Repeat steps 3 to 7 when setting data items for other point numbers 9 After editing the data press CLR The cursor returns to the point number row Pressing CLR returns to the Point menu screen in step 1 ...

Page 202: ...or position press or Pressing increments the number and pressing decrements the number 3 To move the edit cursor to other digits press or If the number contains a decimal point skip it 4 To enter a number at a digit where no number is entered first move the edit cursor to that digit 5 Pressing or causes 0 to appear Then press or to set the number 6 To change the plus minus signs press Pressing tog...

Page 203: ...oint Parameter Monitor Operation 1 Run type 2 Position 3 Speed 4 Accel 6 Push Run parameter I O parameter Servo parameter Copy Delete this I O monitor Status monitor Select number Servo status Origin search Run Message Alarm records Not currently used Reset Delete all P1 to P255 Edit CC Link During reaching Speed Edit Setting Run monitor Information Delete this 5 Decel Option parameter Teaching Du...

Page 204: ...you move the robot by hand in an emergency stop state 4 1 1 Teaching playback In teaching playback you move the robot in manual operation to a desired position and obtain that position as a Position for point data Follow these steps to perform teaching playback w WARNING The robot will now move so use caution 1 On the main menu screen select Point The Point menu screen appears 2 Move the cursor to...

Page 205: ...sed and the message Running will appear during movement mm RUN Teaching JOG Current pos 100 00 mm P 1 1 Run 2 Position 3 Speed 4 Accel 5 Decel 6 Push ABS 100 00 100 100 100 100 Point teaching S 80 Jog Running NRM 01 Running screen Step 5 24A12 M0 00 TIP Pressing the jog key once moves the robot in inching mode Initial setting is 1 00mm which can be changed as needed by using the Inching width K11 ...

Page 206: ... to select Yes or No and then press Selecting Yes sets the current robot position in Position for point data Selecting No cancels the current position setting and returns to the previous screen mm Teaching JOG Current pos 128 00 mm P 1 1 Run type 2 Position 3 Speed 4 Accel 5 Decel 6 Push ABS 100 00 100 100 100 100 Point teaching S 100 Teaching Teach Current Pos Yes No NRM 01 mm RUN Teaching JOG Cu...

Page 207: ...ened mm P 1 1 Run type 2 Position 3 Speed 4 Accel 5 Decel 6 Push ABS 100 00 100 100 100 100 Point edit Function Select number Copy Delete this Delete all Point list NRM 01 mm P 1 1 Run type 2 Position 3 Speed 4 Accel 5 Decel 6 Push ABS 100 00 100 100 100 100 Point edit Copy From P 1 To P 2 Copy OK Yes No NRM 01 Copy screen Step 3 24A16 M0 00 4 Specify the copy source and destination point numbers ...

Page 208: ... to select it from the Function menu mm P 9 1 Run typeﾌﾟ 2 Position 3 Speed 4 Accel 5 Decel 6 Push ABS 100 00 100 100 100 100 Point edit Function Select number Copy Delete this Delete all Point list NRM 01 mm P 1 1 Run typeﾌ 2 Position 3 Speed 4 Accel 5 Decel 6 Push ABS 100 00 100 100 100 100 Point edit Delete this Delete this Yes No NRM 01 Point number select screen Step 3 24A19 M0 00 4 Press FUN...

Page 209: ...M0 00 3 Press FUNC to display the Function menu and select Point list Point data appears in the order of point number showing Run type and Position data In this list pressing or moves the cursor up or down and pressing or switches the page While a point number is selected pressing enters the data edit screen for the selected point number mm P 1 1 Run type 2 Position 3 Speed 4 Accel 5 Decel 6 Push ...

Page 210: ...display page When the cursor is on the bottom row of the screen pressing scrolls to the next page Run parameter I O parameter Option parameter Servo parameter Parameter NRM 01 Soft limit Soft limit In position Push mode Push time Push speed Zone 0 00 150 00 0 01 0 10 10 00 0 00 mm mm mm ms mm s mm Run parameter NRM 01 Run parameter Step 2 24A22 M0 00 3 Move the cursor to the parameter you want to ...

Page 211: ...rvo parameter Parameter NRM 01 OUTO select OUT1 select OUT2 select OUT3 select POUT select Alarm No output SERVO seguence ZONE NEAR TLM S ORG S AFTER INVALID EDGE I O parameter 01 I O parameter Step 2 24A24 M0 00 3 Move the cursor to the parameter you want to change and press The selected parameter can now be changed OUTO select OUT1 select OUT2 select OUT3 select POUT select Alarm No output SERVO...

Page 212: ...tion parameters are displayed The display contents differ depending on the installed option Run parameter I O parameter Option parameter Servo parameter Parameter NRM 01 CC Link Node Speed INVALID 1 10M bps Option parameter NRM 01 Option parameter Step 2 24A26 M0 00 3 Move the cursor to CC Link and press The CC Link settings can now be changed CC Link Node Speed INVALID 1 10M bps VALID INVALID Opt...

Page 213: ...ED 200 30 Kg m s2 Kg m s2 ms Servo parameter NRM 01 Servo parameter screen Step 2 24A28 M0 00 n NOTE The Max accel parameter is enabled only when the HT1 was started while holding down CLR 3 Move the cursor to Payload 1 and press The selected parameter can now be changed Payload 1 Max accel 1 Payload 2 Max accel 2 Stop mode Stop mode time Stop current 10 3 50 10 3 50 CLOSED 200 30 Kg m s2 Kg m s2 ...

Page 214: ...ms 2 Move the cursor to Servo status and press The servo on off status is displayed The brake status is also displayed if the robot has a brake Servo status Origin search Run Reset Current pos 128 00 mm Operation NRM 01 Servo Brake ON FREE RUN change the status Current pos 128 00 mm Servo status NRM 01 Servo status screen Step 2 24A30 M0 00 3 Press RUN to turn the servo on or off The servo turns o...

Page 215: ...g appears during origin search If you want to stop the origin search press STOP Method TORQUE Direction CCW Coordinates RUN Origin search start Current pos 128 00 mm Origin search NRM 01 Origin search Running Origin search return to origin running screen Step 3 24A32 M0 00 4 When origin search is complete check the message The message OK and machine reference Ref appear when the origin search has ...

Page 216: ...editing Press or to specify the point number or press FUNC to select it from the Function menu 4 Specify the speed If you want to change the speed press FUNC to open the Function menu and specify the speed as follows 1 Select Change speed and press The edit cursor then appears at the speed value 2 Specify the speed and press To specify the speed use the same procedure as for setting a point number...

Page 217: ...ess STOP mm RUN positioning start Current pos 180 00 mm P 1 1 Run type 2 Position 3 Speed 4 Accel 5 Decel 6 Push ABS 100 00 100 100 100 100 Run S 80 Run Running NRM 01 Running screen Step 5 24A36 M0 00 n NOTE The robot slows down and stops after pressing STOP 6 To operate the robot using another point data repeat steps 3 to 5 7 When operation is complete press CLR This returns to the Operation men...

Page 218: ...rm 3 Press RUN to perform a reset The message OK appears when reset is complete Alarm 85 OVER LOAD RUN Execute Reset Current pos 128 00 mm Reset 01 Reset OK Reset screen Step 3 24A38 M0 00 4 Press CLR This returns to the Operation menu screen c CAUTION Some alarms cannot be reset here Refer to the Controller Guide Chapter 6 section 4 Alarms Possible causes and actions In such cases shut down the c...

Page 219: ...troller and robot being used This function was added from Ver 1 06 7 1 I O monitor 1 On the main menu screen select Monitor The Monitor menu screen opens showing selectable menu items 2 Move the cursor to I O monitor and press The I O monitor screen opens showing the current I O status Pressing displays the second page Pressing returns to the first page The first page shows the ON OFF status of ea...

Page 220: ...rk link ORGSEN Origin sensor ZSTATUS Linear Z phase P BLK Main power outage PZONE Personal zone NEAR Near width output TLM S Pushing status ORG S Origin search status ZONE Zone output MOVE Moving WARN Warning output MANU S Manual mode status I O monitor Status monitor Run monitor Alarm Warning Message Alarm records Monitor NRM 01 SRV S BRAKE E STOP LINK ORGSEN ZSTATUS P BLK PZONE NEAR TLM S ORG S ...

Page 221: ...oint Operation point Current value Electrical current Load factor Load factor Voltage Voltage V Temperature Temperature in controller C Distance Total distance robot has moved km Total time Total time robot has run d h m I O monitor Status monitor Run monitor Alarm Warning Message Alarm records Monitor NRM 01 Current pos Current speed Run status Run point Current value Load factor Voltage Temperat...

Page 222: ...e Chapter 6 section 4 Alarms Possible causes and actions 3 Press CLR This returns to the Monitor menu screen 7 5 Warning display 1 On the main menu screen select Monitor The Monitor menu screen opens showing selectable menu items 2 Move the cursor to Warning and press The Warning screen opens showing up to 8 warnings that have occurred most recently If 9 or more warnings have occurred they will be...

Page 223: ...arm of the operation stop that occurred most recently I O monitor Status monitor Run monitor Alarm Warning Message Alarm records Monitor NRM 01 Message No 01 02 03 04 05 06 07 08 factor 43 NO POINT DATA NRM 01 Message screen Step 2 24A44 M0 00 TIP For details on messages and corrective actions refer to the Controller Guide Chapter 6 section 4 Alarms Possible causes and actions 3 Press CLR This ret...

Page 224: ... press The screen shows the date when the alarm occurred as well as operating conditions On this screen pressing displays the second page Pressing returns to the first page Alarm records 86 12 15 34 356 12 3 21 ABS 25 50 280 0 d h m mm mm s V No 01 Factor Time Position Speed Run status Run point Current value Voltage NRM 01 Alarm record details screen Step 3 24A46 M0 00 4 Press CLR to return to th...

Page 225: ...he first page Press to display the Information on the second page 2 Move the cursor to Information and press The Information screen opens showing the model names and specifications of the controller and robot being used Information Monitor NRM 01 Controller Option Version PNT table type Robot Stroke Max speed Max payload Information TS CC Link 1 00 00 NORMAL 12 34 250 000 1200 00 20 mm mm s kg NRM...

Page 226: ...above c CAUTION To change the operation mode turn on the power to the controller while holding down the CLR on the HT1 or reinsert the HT1 cable connector into the COM1 connector on the controller front panel For details on each operation mode refer to section 6 Operation modes in Chapter 5 of the Controller Guide 1 On the main menu screen select Run mode The Run mode menu screen appears An asteri...

Page 227: ...t change any settings other than the LCD display language Japanese English n NOTE After changing the setting press CLR to enter the main menu screen and enable the change 8 2 1 Changing the display language 1 Move the cursor to Language and press The language can now be changed Selectable options are shown in the comment area Serial port Language Back light Brightness B Brightness GC Brightness GB...

Page 228: ...rface RS 232C Display Dot matrix monochrome LCD with backlight 32 characters 10 lines Operation keys Mechanical switch Emergency stop button Normally closed with lock mechanism ENABLE switch HT1 D only 3 position switch Safety connector HT1 D only 15 pin D sub connector male Ambient conditions Ambient operating Temperature humidity 0 to 40 C 35 to 85 RH no condensation Ambient storage Temperature ...

Page 229: ...A HT1 Operation Guide A 41 9 2 2 HT1 D 88 191 Safety connector 63 3 position ENABLE switch 20 45 53 Units mm HT1 D 23A14 M0 00 ...

Page 230: ......

Page 231: ...change SRVO B 8 Brake status change BRK B 8 Reset RESET B 8 3 3 Edit commands B 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...

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Page 233: ...munication Command Guide explains how to set the communication parameters necessary to perform the communication between the communication device and the TS series and also explains the communication command specifications Before reading this section read the precautions and descriptions stated in the Controller Guide main part of this manual to understand the point data and parameter data as well...

Page 234: ...ation commands are applicable to the controller software version Ver 1 04 106 or higher The basic format of the communication command is as follows Data transmission format command data number status n c r l f command data number n setting value c r l f n Node number Data response format OK n c r l f NG n alarm number c r l f RUN n c r l f END n c r l f n Node number All communication commands con...

Page 235: ...n setting value Speed S_ S_ point number n setting value Data is not saved into the memory AC AC point number n setting value Acceleration AC_ AC_ point number n setting value Data is not saved into the memory DC DC point number n setting value Deceleration DC_ DC_ point number n setting value Data is not saved into the memory Q Q point number n setting value Push Q_ Q_ point number n setting valu...

Page 236: ... Parameter data reading D D status number n Status information reading IN IN input number n Input information reading INB INB input bit number n Input information bit reading OUT OUT output number n Output information reading OUTB OUTB output bit number n Output information bit reading WIN WIN word input number n Input word information reading WOUT WOUT word output number n Output word information...

Page 237: ... command is sent to all the controllers connected with the host device as by daisy chain connection Communication example Transmission Response START1 1 c r l f Positioning operation of point data 1 RUN 1 c r l f Starts the positioning operation END 1 c r l f Normal end START2 1 c r l f Positioning operation of point data 2 RUN 1 c r l f Accepts the positioning operation and starts it NG 1 44 c r ...

Page 238: ...l f JOG node number c r l f Meaning Performs the JOG movement in the or direction Function Performs the JOG movement of the robot in a specified direction n NOTE The JOG movement speed is set using JOG speed K10 of the RUN parameter See also Chapter 3 section 4 2 Parameter details of the Controller Guide The JOG movement using the communication command does not relate to the manual mode status Set...

Page 239: ...of the RUN parameter See also Chapter 3 section 4 2 Parameter details of the Controller Guide The inching movement using the communication command does not relate to the manual mode status Setting Node number 1 to 16 This setting can be omitted when the same command is sent to all the controllers connected with the host device as by daisy chain connection Communication example Transmission Respons...

Page 240: ...ke status cannot be changed while the servo is ON Setting 1 or 0 1 Brake ON 0 Brake release Node number 1 to 16 This setting can be omitted when the same command is sent to all the controllers connected with the host device as by daisy chain connection Communication example Transmission Response BRK0 1 c r l f Brake release OK 1 c r l f Normal end Reset RESET Format RESET node number c r l f Meani...

Page 241: ... The command may vary depending on the type of individual data For details see the table below Command and data type Command Type Unit Standard Setting Custom Setting M Operation type P Position Other than TS P 0 01mm TS P 0 001mm S Speed 0 01mm s AC Acceleration 0 01m s2 DC Deceleration Q Push ZL Zone Other than TS P 0 01mm TS P 0 001mm ZH Zone Other than TS P 0 01mm TS P 0 001mm N Near width Oth...

Page 242: ...l data of a specified point The written data is not saved into the memory The command may vary depending on the type of individual data For details see the table below Command and data type Command Type Unit Standard Setting Custom Setting P_ Position Other than TS P 0 01mm TS P 0 001mm S_ Speed 0 01mm s AC_ Acceleration 0 01m s2 DC_ Deceleration Q_ Push n NOTE Even when the setting value is writt...

Page 243: ...ing the communication command does not relate to the manual mode and interlock statuses If the return to origin is not completed the abnormal end is returned Setting Point number 1 to 255 Node number 1 to 16 This setting can be omitted when the same command is sent to all the controllers connected with the host device as by daisy chain connection Communication example Transmission Response TEACH2 ...

Page 244: ...d parameter Function Writes the setting value to a specified parameter c CAUTION When parameters need to be edited do not edit parameters not described in this guide Doing so may cause a communication failure or malfunction n NOTE Some parameter data may include the decimal point due to the specifications However when handling such data using the communication command all of data are handled as in...

Page 245: ...If there are controllers with the same node number perform automatic node number setting again If you do not do this the system may not operate properly Communication example 16 daisy chained controllers Transmission Response SETID c r l f Performs automatic node number setting OK 1 c r l f Node number 1 setting end OK 2 c r l f Node number 2 setting end OK 16 c r l f Node number 16 setting end c ...

Page 246: ...d and data type Command Type Unit Standard Setting Custom Setting M Operation type P Position Other than TS P 0 01mm TS P 0 001mm S Speed 0 01mm s AC Acceleration 0 01m s2 DC Deceleration Q Push ZL Zone Other than TS P 0 01mm TS P 0 001mm ZH Zone Other than TS P 0 01mm TS P 0 001mm N Near width Other than TS P 0 01mm TS P 0 001mm J Jump F Flag T Timer ms n NOTE The individual data of the point dat...

Page 247: ... such data using the communication command all of data are handled as integer values For example when K1 soft limit is 20 mm the communication command at the TS S TS S2 TS SH and TS X would be 2000 10 2 and the communication command at the TS P would be 20000 10 3 In both cases no decimal point is used Setting Parameter number 1 to 138 Node number 1 to 16 This setting can be omitted when the same ...

Page 248: ...S P 0 01mm TS P 0 001mm Position command information currently running 7 Speed command 0 01mm s Speed command information currently running 9 Voltage value 0 1V Motor drive voltage 10 Temperature C Temperature of motor drive module 13 Current point number Point number of positioning operation currently running 14 Load rate Overload error occurs if the load rate reaches 100 17 Machine reference Mac...

Page 249: ... with the host device as by daisy chain connection Input output information type Input output Number Input output Bit Number Input Output Symbol Meaning Symbol Meaning 1 0 PIN0 Point number selection POUT0 Point number output 1 PIN1 POUT1 2 PIN2 POUT2 3 PIN3 POUT3 4 PIN4 POUT4 5 PIN5 POUT5 6 PIN6 POUT6 7 PIN7 POUT7 8 JOG JOG movement direction OUT0 Control output 9 JOG JOG movement direction OUT1 ...

Page 250: ... data area to be used by the remote command Setting Word input output number 0 to 3 See the table below Node number 1 to 16 This setting can be omitted when the same command is sent to all the controllers connected with the host device as by daisy chain connection Input output information type Input output Number Input Output Symbol Meaning Symbol Meaning 0 WIN0 Execution command WOUT0 Status 1 WI...

Page 251: ...R Near width output 2 TLM S Push status 3 ORG S Return to origin completion status 4 ZONE Zone output 5 MOVE Moving 6 WARN Warning output 1 Warning occurs 7 MANU S Manual mode status 8 BUSY Operation is being executed 9 END Operation completion 10 ALM Alarm 1 Alarm status 11 SRV S Servo status 12 LOCK Interlock 1 Interlock status 13 BRAKE Brake status 14 E STOP Emergency stop status 1 Emergency st...

Page 252: ...tted when the same command is sent to all the controllers connected with the host device as by daisy chain connection n NOTE If multiple alarms and warnings occur the alarm warning occurrence numbers are sequentially assigned to 1 2 and so on from a smaller alarm number Example If overload 86 and emergency stop C1 occur the alarm occurrence numbers are assigned as follows Alarm occurrence number 1...

Page 253: ...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...

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Page 255: ...data and parameter data for any desired controller in the daisy chain can be set and the controller status monitored with a single computer or Handy Terminal This section explains the daisy chain function when used with the support software TS Manager or HT1 For details on the basic operations of the support software TS Manager refer to the TS Manager manual and its online help ...

Page 256: ...e Controller Guide Do not connect more than 16 controllers in a daisy chain This may cause unpredictable operation and incorrect communication System configuration diagram Controller or Handy Terminal HT1 Controller Daisy chain connection up to 16 controllers Controller Controller Daisy chain cable Daisy chain cable Daisy chain cable Communication cable TS Manager Personal Computer 23C01 M0 00 c C...

Page 257: ...ins These might cause heat fire or damage Do not disassemble modify or make a direct solder connection since this might cause heat fire or damage Do not let water or moisture get on the unit Do not touch the connector with moist hands since this might cause electrical shocks Do not apply strong impacts to the unit since this might cause breakdowns When inserting or removing the connector grip it b...

Page 258: ...re An incorrectly inserted connector or poor contact condition can cause malfunctions or equipment failure Be sure that the connector is correctly and securely connected When disconnecting the connector from the controller pull the connector straight out to avoid bending the connector pins 2 Connect the daisy chain cable to the controller Insert the white connector of the daisy chain cable into th...

Page 259: ... When controllers with same node number exist on network in this Daisy Chain Guide c CAUTION To use the TS Manager the TS Manager software must be installed on your computer The daisy chain function is not supported by the TS Manager software with a version prior to 1 2 0 Always use the software with version 1 2 0 or later If the TS Manager with an earlier version is already installed on your comp...

Page 260: ... starting automatic node number assignment Click 24C04 M0 00 5 Check the assigned node numbers When the message appears stating that the automatic node number assignment is completed check the assigned node numbers The figures on the left side show the node numbers and the letters on the right mean the controller model names set for each node number Click the OK button after checking the message A...

Page 261: ...ion 01 NRM No Cont 01 TS X 20A 02 03 04 05 06 07 08 No Cont 09 10 11 12 13 14 15 16 Function Auto Node Set Step 2 Connection screen and Function menu 3 Perform automatic node number assignment When the message Set OK appears move the cursor to Yes and press 24C32 M0 00 Connection 01 NRM No Cont 01 TS X 20A 02 03 04 05 06 07 08 No Cont 09 10 11 12 13 14 15 16 Auto Node Set Set OK Yes No Step 3 Node...

Page 262: ...de number assignment Click the OK button in to perform automatic node number assignment Confirmation message for starting automatic node number assignment Click 24C34 M0 00 2 Check the assigned node numbers When the message appears stating that the automatic node number assignment is completed check the assigned node numbers The figures on the left side show the node numbers and the letters on the...

Page 263: ...ss 24C37 M0 00 Connection 01 NRM No Cont 01 TS X 20A 02 03 04 05 06 07 08 No Cont 09 10 11 12 13 14 15 16 Auto Node Set Set OK Yes No Step 2 Node number setting 3 Select the controller When automatic node assignment is finished the Connection screen appears Move the cursor to the controller you want to connect and press 24C38 M0 00 Connection 00 NRM No Cont 01 TS X 20A 02 TS X 05A 03 TS X 05A 04 T...

Page 264: ...tion button on the toolbar 2 Select the COM port Select the COM port to which the controllers are connected and click the OK button 3 Click the Switch Controller button on the toolbar The Switch Controller window appears Switch Controller button on toolbar Click 24C10 M0 00 TIP You can use the right click menu to display the Switch Controller window 1 Right click the controller name on the control...

Page 265: ...ute automatic node number assignment Clicking the OK button on that screen will start automatic node number assignment If you do not require automatic node number assignment click the Cancel button Switch Controller window Click Select controller node number 3 in this example 24C11 M0 00 5 Check the node number The node number of the selected controller appears next to the controller model name on...

Page 266: ...ont 01 TS X 20A 02 TS X 05A 03 TS X 05A 04 TS X 20A 05 TS X 05A 06 TS X 10A 07 TS P 20A 08 TS P 10A No Cont 09 TS S 10 TS S 11 TS S 12 TS S 13 TS S 14 15 16 Step 2 Controller list 3 Check that the selected controller is connected When the selected controller is connected an asterisk appears to the left of the controller name and the node number for the controller is displayed in brackets on the up...

Page 267: ... node number assignment again to disable the LCD setting n NOTE If a computer and a controller have already been connected transfer and writing of data will be made to the currently connected controller For details on how to write and transfer data to the controller refer to the support software TS Manager manual 3 1 Writing data to controller 1 Select Write Data to Controller The Write Data to Co...

Page 268: ...n will start automatic node number assignment If you do not require automatic node number assignment click the Cancel button If the robot name set in the data to be transferred to the controller does not match the robot name currently set in the controller a confirmation message appears asking whether to continue data transfer If you want to continue data transfer click the Yes button Transfer con...

Page 269: ...ant to cancel writing the data click the Cancel button Confirmation message Click 24C17 M0 00 5 Check that the data has been written When the message appears stating the data writing has been completed click the OK button The data will be usable after turning the control power off and then back it on again Restarting the control power may not be necessary depending on the parameters to be written ...

Page 270: ...you want to transfer When the Data Transfer PC to Controller window appears click the button next to the File Name box The Open dialog box then appears Select the file to transfer and click the Open button The selected data file name is then displayed in the File Name box Data Transfer PC to Controller window Click Click Select file Selected data file name 24C20 M0 00 ...

Page 271: ...t to transfer data to currently selected controller Click 24C22 M0 00 4 Select the node number If the Node Select window appears select the controller where you want to transfer the data and click the OK button If not all controllers are displayed click the Research button Node Select window Select controller node number 5 in this example Click 24C23 M0 00 n NOTE If controllers having the same nod...

Page 272: ...n in the transfer confirmation message may affect the operation If the controller information in the data to be transferred does not match the controller name currently at the transfer destination an error message appears and the data transfer will be canceled Check the setting and then transfer the data again Data transfer cancelled message due to controller name mismatch Click 24C25 M0 00 5 Perf...

Page 273: ...l button Data transfer confirmation message Click 24C27 M0 00 6 Check that the data has been transferred When the message appears stating the data transfer has been completed click the OK button The data will be usable after turning the control power off and back it on again Restarting the control power may not be necessary depending on the parameters to be written Data transfer completed message ...

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Page 275: ... 2 Wiring D 2 2 Initial setting D 3 2 1 Node number setting D 3 2 2 Enable setting D 3 3 I O interface specifications D 4 3 1 Configuration D 4 3 2 CC Link type D 5 3 3 EtherNet IP type D 6 4 Data setting and operation D 7 4 1 Restrictions on gateway function D 7 4 2 Data setting D 7 4 3 Operation D 7 ...

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Page 277: ...network option plays a role of the gateway to collectively control multiple controllers through the daisy chain connection Up to four controllers can be connected c CAUTION The gateway connection function is available from controller s software version V1 12 128 onwards The target network of the gateway function is CC Link and EtherNet IP ...

Page 278: ...hain connection among the controllers use the daisy chain connection cable 300 mm specified by YAMAHA Daisy chain connection cables are required the number of which is equivalent to the number of controllers to be connected 1 Name Daisy chain connection cable 300 mm Model KCA M532L 00 For the connection between the host unit and field network see the section Connecting the I O unit in the Controll...

Page 279: ...t K38 is edited directly and the other is automatic node number setting that automatically assigns node numbers to K38 in the controller arrangement order For details about automatic node number setting see the section Node number setting in the Daisy Chain Guide K38 Node controller Setting range Default Units Restart 1 to 4 1 Function Specifies the node number 2 2 Enable setting Be sure to set th...

Page 280: ...ing the gateway when viewed from the host unit So the same control as that used when multiple controllers are connected can be performed through the field network Host unit Applicable to field network Multiple controllers are connected through the field network Controller 1 Controller 2 Field network Controller 3 Controller 4 I O 1 I O 2 I O 3 I O 4 23D03 M0 00 Gateway connections Controller 1 Con...

Page 281: ...ut 3 RY n 5 Reserved area RX n 5 Reserved area RY n 6 Bit input 4 RX n 6 Bit output 4 RY n 7 Reserved area RX n 7 System area n Value determined by the node number setting Reserved areas are not used currently For the system area of RX n 7 RX n 7 B is arranged as R RDY remote READY Remote register word input output Input master remote Output remote master Address Signal name Address Signal name RW...

Page 282: ...m to m 1 Bit input 1 n to n 1 Bit output 1 m 2 to m 5 Word input 1 n 2 to n 5 Word output 1 m 6 to m 7 Bit input 2 n 6 to n 7 Bit output 2 m 8 to m 11 Word input 2 n 8 to n 11 Word output 2 m 12 to m 13 Bit input 3 n 12 to n 13 Bit output 3 m 14 to m 17 Word input 3 n 14 to n 17 Word output 3 m 18 to m 19 Bit input 4 n 18 to n 19 Bit output 4 m 20 to m 23 Word input 4 n 20 to n 23 Word output 4 m ...

Page 283: ...the TS Monitor cannot be connected to the controller 4 2 Data setting When using the gateway function set the data to the controllers by changing to the setting target controller through the controller at the top The data setting is identical to that of the daisy chain connection For details see the section Writing and transferring saved and newly made data in the Daisy Chain Guide c CAUTION The d...

Page 284: ...ist and the parameters were added to the parameter writing and parameter reading Additionally the parameters were added to the command type and data of 5 7 Parameter data writing and the command type and response data of 5 8 Parameter data reading The direct position designation positioning operation was added to the positioning operation START in the Communication Command Guide etc Ver 2 03 May 2...

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Page 286: ...robot Robot manuals can be downloaded from our company website Please use the following for more detailed information YAMAHA MOTOR CO LTD IM Operations 882 Soude Nakaku Hamamatsu Shizuoka 435 0054 Japan Tel 81 53 460 6103 Fax 81 53 460 6811 ...

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