Yamaha TS-S, Руководство пользователя

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5
o
peration
5-1
1. Operation procedure
1.1 Overall operation timing chart
The operation timing chart from "power ON" to the "positioning operation" is shown below.
1.1.1 TS-S TS-S2 TS-SH
The TS-S, TS-S2 and TS-SH timing chart is shown below.
Alarm (/ALM)
Control power (CP24V)
Operation-in-progress
(BUSY)
Main power (MP24V)
Operation end (END)
Emergency stop
(E-STOP)
Servo ON (SERVO)
Servo status (SRV-S)
Return-to-origin (ORG)
Return-to-origin
end status (ORG-S)
Interlock (/LOCK)
Start (START)
Point No. select
(PIN0 to PIN7)
Point No. output
(POUT0 to POUT7)
From power ON to positioning operation
Td ≥ 5ms
*3
00h
Initial processing
01h 00h
00h 01h
*1
*4 *5
*2
1
2
3
4
5
6
7 8
9
10
11
12
13
TS-S TS-SH TS-S2
23501-M3-00
1: Turn the control power ON.
2: After initial processing is completed the END signals switch ON.
3: The safety circuit and main circuit switch ON.
4: The /ALM signal switches ON.
5: The /LOCK and SERVO inputs switch ON.
6: After the SRV-S signal switches ON, the ORG input switches ON.
7: The END signal switches OFF when the return-to-origin begins, and BUSY switches on.
8: The ORG input switches OFF when the ORG-S signal switches 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 possible when the robot starts moving.).
*1 : For details regarding how to configure "emergency stop" and "main power" related safety circuits (external main
power breaker circuit), see section 9, "Configuring an emergency stop circuit", in Chapter 2.
*2 : The ORG-S signal is assigned to one of the OUT0 to OUT3 control outputs. It is factory-assigned to OUT3 prior to
shipment.
*3 : A delay of 5ms or longer is required between the point No. input and the START command input in order to ensure
that the point No. is specified.
*4 : It takes approx. 1 sec. When the initial processing is completed, the END output switches ON. However, when a
field network option, such as CC-Link is installed, this period of time until the END is output may differ. (For
details, see section 1.1.4, "Communication check (field network)", in Chapter 5.)
*5 : Data may be output from the COM port on the controller during initial processing. Discard all of those data.