Professional Documents
Culture Documents
User's Manual: Yamaha Single-Axis Robot Controller
User's Manual: Yamaha Single-Axis Robot Controller
TS-X
User’s Manual ENGLISH
E
Introduction
Thank you for purchasing the TS-X Controller (hereafter referred to simply as "Controller").
Please read this manual carefully to ensure correct and safe use of this controller.
Main functions
Function Explanation Reference Section
Moves the robot slider to the specified position.
There are 4 types of position operation:
Section 5.3
1. Positioning operation
"Positioning operation".
Section 5.3.3
2. Positioning merge operation
Positioning "Positioning merge operation".
operation Section 5.3.4
3. Push operation
"Push operation".
Section 5.3.5
4. Decel. Push
"Deceleration push operation".
* Positioning can be specified in an "absolute
position" or "relative position" format.
Specifies the slider position (point).
Up to 255 points of point data can be handled.
Each point includes the following elements: Section 3.2
Point data
RUN Type, Position, Speed, Accel., Decel., Push "Point data".
Force, Zone (-), Zone (+), Near Width (In-Position
Zone), Jump, Flag, Timer.
The "point data type" setting can be selected as
Point table type Section 3.2
"Standard setting" or "Custom setting". This is
setting "Point data".
possible only from the support software.
Section 5.1
Performs an origin search (return-to-origin) "Operation procedure".
Origin search
simply by entering a return-to-origin command. Section 5.2
"Origin search".
Once the absolute battery has been connected
Section 5.2.1
Absolute and a single origin return has been executed,
"Origin point detection
function further origin returns are not required at
method".
subsequent power ONs.
JOG operation
Robot JOG operation and current position teaching Section 5.3
and current
can be performed from the host controller. "Positioning operation".
position teaching
Soft limit Sets the robot's movement range. This function is used Section 5.7.1
function to avoid collisions, etc., when obstacles are present. "Soft limit function"
The following statuses can be selected and output
to the host controller.
Point No. output, alarm No. output, zone output,
Section 4.3
Output function personal zone output, near output (in-position
"I/O signal details".
zone output), push status, origin return completion
status, warning output, movement-in-progress
output, manual mode status.
Saves up to 50 of the most recent alarms. The
following elements are saved: Section 6.2
Alarm history
Cause, start time, position, speed, operation status, "Alarm recording function".
operation point, elec. current, voltage, input, output.
Section 5.6
Operation modes Exclusive I/O and communication control is possible.
"Operation modes".
HT1 (Handy Terminal) HT1 Operation Guide
Offers point and parameter data editing/
monitoring functions.
TS-Manager (PC software for Windows)
Support software for data designing,
Support tools
debugging, maintenance, and management.
TS-Monitor (LCD monitor) Section 5.8
LCD monitor integrated with the controller "TS-Monitor (Option)"
main body that displays the various statuses,
current position, and alarm information.
i
About this manual
• Supplement
Daisy Chain Guide Explains the daisy chain function of the TS series
robot controllers.
Use any of the following methods for referencing this manual content during
controller installation, operation, and adjustment procedures.
■ Keep this manual close at hand for referencing when performing
installation, operation, and adjustments.
■ Display the CD-ROM version of this manual onscreen for referencing
when performing installation, operation, and adjustments.
■ Print out the required pages of this manual from the CD-ROM in
advance, and use them for reference when performing installation,
operation, and adjustments.
Although every effort was made to ensure that this manual content is accurate and
complete, please contact YAMAHA if errors, misprints, or omissions are found.
For information related to the robot unit, support software, and other optional
devices, please refer to the operation manuals for those items.
ii
Safety alert symbols and signal words
Indicates a prohibited action related to the handling of this product. Read the
content carefully to ensure that the prohibited action is not performed.
[Example]
Indicates a mandatory action related to the handling of this product. Read the
content carefully to ensure that the mandatory action is performed.
[Example]
Mandatory action Cut off power
iii
CE marking
CE marking
1. Safety standard
■ Cautions regarding compliance with EC Directives
The YAMAHA robot (robot and controller) is not, in itself, a robot system. The
YAMAHA robot is just one component that is incorporated into the customer's
system (built-in equipment), and YAMAHA robots are in compliance with the EC
Directives as they apply to built-in equipment. Therefore, this does not guarantee
EC Directive compliance in cases where the robot is used independently.
Customers who incorporate a YAMAHA robot into a system which will be shipped
to, or used in, the EU, should therefore verify that the overall system is compliant
with EC Directives.
• Differences between a YAMAHA robot (robot and controller), and a robot system:
A YAMAHA robot (robot and controller) is just one component in a robot system, and is not,
in itself, a robot system.
This is because a YAMAHA robot does not include the "end effectors" or "any equipment,
devices, or sensors required for the robot to perform its tasks", as defined in the EN10218-
1:2006 Standard, Item –3.20.
iv
CE marking
2. Safety measures
■ Usage Conditions
The usage conditions which apply to the YAMAHA robot series are described
below.
• EMC (Electromagnetic Compatibility)
YAMAHA robots are designed for industrial environments. (Applicable standard
relating to the EMC Directive: Refer to the EN61000-6-2 Standard, Item 1
"Scope".)
EMC Directive compliance requires that the customer have the final product
(over equipment system) evaluated, with any necessary measures being
implemented.
• Installation conditions
· YAMAHA robots are classified as "built-in equipment", and feature a "Class
I" protective structure with regard to electrical shocks. Be sure to ground the
robot and robot controller in order to ensure electrical shock protection.
· The robot controller case is not designed to meet the "enclosure" requirement
specified by the EN60204-1 Standard. Suitable protection should therefore
be provided to prevent contact electrical shock hazards, and to protect the
controller from dust and water, etc., in the ambient environment.
· Regarding insulation coordination, YAMAHA robots are designed for the
following conditions (refer to the IEC60664-1 Standard):
Over-voltage category II
Pollution degree 2
Suitable measures should be taken if the robot is to be used in environments
more severe than those shown above.
• Explosion-proof
The robot and controller do not have explosion-proof specifications, and the
robot should therefore not be used in environments exposed to flammable
gases which could explode or ignite, or to gasoline and solvents, etc.
v
CE marking
The examples shown here are the countermeasures tested under our installation
conditions. When our product is installed in the customer's system, the test
CAUTION results may differ due to the difference in the installation conditions.
● Configuration
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
CAUTION possible.
Controller
L ROB I/O
Power supply
N Single-axis robot
L1 MOTOR
(100 to 115V)
N1
(200 to 230V)
Ground
IO I/O circuit or
network
Meaning of symbols
vi
CE marking
● Countermeasure components
Dimensional outline
Status indicator
green : normal
red : abnormal
25 ±1.0
33.5 ±1.0
4
-0 .3
.1
.3 +0
19 ±1.0
φ4
Wire (line)
(Black) Wire (earth)
(Green/Yellow)
250 +25
-0
28 ±1.0
4 ±0.5
22.5 ±1.0
38 ±1.0 Unit: mm
vii
CE marking
Dimensional outline
92
82 ±0.5 (3.5) 27
2-φ4.8 Protective earth (PE)
77 8
Mounting hole
Input
Output
12 45 ±0.5
Type No. label
15
53
Output
Input
6-M4
Terminal block cover Terminal Mounting plate
block cover
(2)
Tolerance: ±1
Unit: mm
Dimensional outline
39.0±1 30.0±1
34.0±1 13.0±1
Unit: mm
viii
CE marking
Dimensional outline
36.0±1 20.5±1
32.0±1
11.0±1
Unit: mm
ix
Safety cautions
Safety cautions
The controller was designed and manufactured with ample consideration given to
safety. However, incorrect handling or use may lead to injury, fire, electrical shocks,
or other accidents or equipment failures. To prevent possible problems, be sure to
observe the following safety cautions at all times.
Also carefully read the safety cautions listed in the robot user's manual and follow
all instructions given there.
DANGER
Never enter the robot movement range during operation.
Entering the movement range while the robot is in motion could
result in serious accidents or death. A safety enclosure or area
sensor with a gate interlock function should be installed to keep all
persons safely out of the robot's movement range.
x
Safety cautions
WARNING
• Installation environment
Use only in environments where the prescribed
ambient temperature and humidity are maintained.
Usage in other environments could cause electrical shocks, fires,
malfunctions, and product deterioration.
xi
Safety cautions
xii
Safety cautions
xiii
Safety cautions
CAUTION
Use the controller and robot only in the prescribed
combinations.
Unsuitable combinations could result in fires and equipment failure.
xiv
Warranty
Warranty
For information on the product warranty, please contact your local agent where you
purchased your product.
xv
MEMO
xvi
Contents
Chapter 1 Overview
1.1 Unpacking check 1-1
1.2 Part names and functions 1-1
1.3 System configuration 1-3
1.4 Installation and operation sequence 1-4
Contents 1
3.4 Parameter data 3-9
3.4.1 Parameter list 3-9
3.4.2 Parameter details 3-12
Chapter 5 Operation
5.1 Operation procedure 5-1
5.1.1 Overall operation timing chart 5-1
5.1.2 Alarm occurrence and clearing 5-3
2 Contents
5.5.4 Query 5-31
5.5.5 Point data writing 5-32
5.5.6 Point data reading 5-33
5.5.7 Parameter data writing 5-34
5.5.8 Parameter data reading 5-35
Chapter 6 Troubleshooting
6.1 Alarm groups 6-1
6.2 Alarm recording function 6-1
6.3 Alarm list 6-2
6.4 Alarms: Possible causes and actions 6-3
Chapter 7 Specifications
7.1 TS-X specifications 7-1
7.1.1 Basic specifications 7-1
7.1.2 Dimensional outlines 7-2
Contents 3
HT1 Operation Guide
Introduction H-1
1. What the HT1 does H-2
1.1 HT1 panel layout H-3
1.2 Connecting to the external safety circuit (HT1-D) H-5
4 Contents
8. Other functions H-45
8.1 Operation mode H-45
8.2 Setting mode H-46
8.2.1 Changing the display language H-46
9. Specifications H-47
9.1 Basic specifications H-47
9.2 Dimensional outlines H-47
9.2.1 HT1 H-47
9.2.2 HT1-D H-48
Contents 5
Daisy Chain Guide
Introduction D-1
1. Installation and wiring D-2
1.1 Installation D-2
1.2 Wiring D-3
Index
Index (Controller) 1
Index (HT1) 3
6 Contents
Chapter 1 Overview
Contents 2
7
1
7
1.1 Unpacking check
or a personal computer.
L
COM1
L
COM1
6
N N • Robot I/O connector (ROB I/O)
• Communication
L1 200V L1 200V Dedicated connector for robot I/O
connectorN1
2 (COM2)
ROB
N1 ROB signals such as position signals
I/O
and origin sensor signals, etc.
I/O
Connector for
CHARGEthe daisy-chain CHARGE
1
● LCD panel
Displays various statuses, current
position, and alarm information.
2 ● button, button
Changes the screen or performs various
operations on the SETUP screen.
L
COM1
3 • Do not push or strike the LCD panel with a sharp 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
WARNING
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.
4
See section“5.8 TS-Monitor (Option)”for details about operation and display of the TS-Monitor.
TIP
L1 200V
LED names (CC-Link) N1 ROB
5 CHARGE
I/O
● L RUN
MOTOR
Green when lit.
● L ERR.
I/O
Red when lit.
6 RGEN
● SD
Orange when lit.
● RD
Orange when lit.
7 See section "7.2.3 CC-Link" for details of LED indicator lamp meanings.
TIP
N
200V
LED names (DeviceNet)
L1
N1 ROB
I/O
CHARGE
MOTOR ● MS
MS
Green/Red when lit.
I/O
RGEN
● NS
NS
Green/Red when lit.
See section "7.2.4 DeviceNet" for details of LED indicator lamp meanings.
TIP
PWR
ERR RUN STOP
N
COM1
200V
• RS-232C control
Personal computer, etc. 3
L1
N1 ROB
I/O
CHARGE
Personal computer, etc.
4
MOTOR
• Single-axis robot
I/O Single-axis robot
This refers to the FLIP-X series. FLIP-X series
RGEN
5
Controller
• I/O control Chuck,
limit switch, etc.
Chuck, limit switch,
and PLC, etc.
External control 6
(PLC, etc.)
3
Power ON
6
· Verifying that operation can be executed from the host unit.
Trial operation, adjustment, teaching · Operation pattern and peripheral device matching
· Point data adjustment
7 Chapter 6 "Troubleshooting"
Alarm occurs?
Contents 2
7
2.1 Installation method
Installation
5
■ Installation screws
Use the following screw type for installation.
Mounting Area
Hole Dia.
Recommended Recommended 6
Thickness Screw Tightening Torque
4mm 5.4 M5 1.5 N·m
humidity L
COM1
L1 200V
N1 ROB
4 following ranges.
or more MOTOR
I/O
or more
· Do not install the controller upside down or at an angle. Doing so could reduce the
cooling capacity and cause performance deterioration or malfunctions.
· Provide the prescribed spacing between the controller and the inner face of the
CAUTION control panel, and between the controller and other devices.
· Avoid using the controller in environments other than those specified. Usage in
inappropriate environments could cause product deterioration and malfunctions.
2.3 Wiring
2.3.1 Power supply connection 1
■ Power supply connection examples
• For 200VAC power supply:
Controller 2
Wiring breaker Electromagnetic AC IN
Noise filter contactor
L
200VAC
N 3
L1
Surge
absorber N1
Wiring breaker AC IN
Electromagnetic
Noise filter
contactor
100VAC
L 6
N
NC
Surge L1
absorber
N1 7
· Be sure that the power supply voltage and the terminal connections are correct.
Incorrect voltage and connections could cause an equipment failure.
CAUTION · Shut the control power off while in a "servo off" condition.
8 to 9mm
6 2.Connection method
Use either of the following methods to insert the core wire into the power supply
connector's hole, then verify that the wire is locked (cannot be pulled out).
Using the accessory Using a flat-blade screwdriver
For 200VAC
wire-release lever:
7
L
N
L1
N1
Wire-release lever
For 100VAC
L
N
NC
L1
N1
■ Ground terminal
The controller must be grounded to prevent electrical shocks in case of electrical
leakage, and to prevent equipment malfunctions due to electrical noise. 1
A Class D or higher grounding (grounding resistance of 100 Ω or less) is required.
1. Leakage current is measured by a leak tester (Hioki Electric 3283), with the low- 5
pass filter (100Hz) turned on.
2. When using multiple controllers, use the sum of the leakage currents from each
controller.
CAUTION 3. Be sure that the controller is securely grounded.
4. Stray capacitance between the cable and the FG may vary depending on the cable
installation condition, causing the leakage current to fluctuate.
6
Circuit protector
An inrush current (several times to 10 times the rated current) occurs at the
instant the controller is turned on, or at the instant robot motors begin to run.
When installing an external circuit protector, select a circuit protector that
7
provides optimum operating characteristics. (Refer to the circuit protector
manufacturer's data sheets when making the selection.)
Rated Current Recommended
Input Power Voltage Driver
(Arms) Characteristics
-X205 2
200VAC -X210 3
Medium to slow response
-X220 7
type with inertial delay
-X105 4
100VAC
-X110 6
3 Be sure to install an external main power shutoff circuit and an "emergency stop"
circuit.
WARNING
Ground wire
A B
DC type AC type
A: Diode, varistor, CR element B: Varistor, CR element
3
PWR
ERR
Motor connector
4
L
COM1
L1 200V
N1 ROB
I/O
CHARGE
MOTOR
I/O
5
RGEN
Single-axis robot 6
(FLIP-X series)
1 Pin No.
1
Signal Name
PS+
Description
Resolver SIN input (+)
2 PS- Resolver SIN input (-)
3 PC+ Resolver COS input (+)
4 PC- Resolver COS input (-)
2 5
6
R+
R-
Resolver excitation output (+)
Resolver excitation output (-)
7 FG Frame ground
8 NC
No connection
9 NC
3 10 PG Origin sensor power 0V
11 +24V Origin sensor power 24V
12 ORG Origin sensor signal input
13 BK+ Brake signal (+)
14 BK- Brake signal (-)
4
4
Press the cable's connector
straight into the COM1 connector
after aligning its arrow mark with
CLR FUNC
PWR
RUN STOP the COM1 connector's triangular
mark (on left side, as viewed
5
ERR
L1 200V
N1 ROB
I/O
6
CHARGE
MOTOR
I/O
RGEN
7
Controller
Grasp the connector when inserting
· Do not modify the USB cable. This can cause communication errors and equipment
failure.
· Always grasp the connector body when connecting/disconnecting the USB cable at
the controller. Pulling on the cable can cause an equipment failure.
CAUTION · 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.
3
ERR
Communication cable
L
COM1
L1 200V
N1 ROB
I/O
4 MOTOR
CHARGE
I/O
RGEN
5
Controller
6 · Select either the USB or D-Sub connection cable for the communication cable. To
perform the communication through the USB port of a communication device, such
as a personal computer, use the USB communication cable. If the D-Sub
communication cable is connected to the USB port through a commercially available
USB conversion cable, the operation cannot be guaranteed.
7 · Do not modify the communication cable. This can cause communication errors and
equipment failure.
CAUTION · Always grasp the connector body when connecting/disconnecting the communication
cable at the controller. Pulling on the cable can cause equipment failure or breaking of
wire.
· 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
PWR
ERR
L
COM1
3
L1 200V
N1 ROB
I/O
CHARGE
MOTOR
I/O
4
RGEN
Dummy connector
Controller
An emergency stop occurs if the communication cable (or Handy Terminal cable) is
CAUTION
unplugged while the controller power is on, and a "servo off" status is established at 5
the robot.
Controller
RGT
3
PWR
ERR
4 L
N
COM1
L1 200V
N1 ROB
I/O
CHARGE
RGEN
5
MOTOR
Dedicated I/O
cable
RGEN
6
· The power must be off when connecting the RGT.
· Insert the cable plug into the connector until a clicking sound is heard (fully inserted).
CAUTION · Install the RGT in a well ventilated location with ample peripheral space (20mm or more).
7
• 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
5
CAUTION by the cover.
2 Controller
I/O(NPN)DC24V
+COM I/O power + common
3 POUT0
・
・
・
・
・
・
・
・
・
・
Point No. outputs
・ ・ POUT 0 to 7
POUT7
L1
Control power input OUT0
N1 Control outputs
・ ・
・ ・ OUT 0 to 3
OUT3
4 Main power input
L
N
BUSY Operation-in-progress
END End-of-operation
Internal power for EXT
/ALM Alarm
"emergency stop" input ES+
SRV-S Servo status
"Emergency stop" contact 1 ES1
"Emergency stop" contact 2 ES2
5 Main power input
READY output contact
DC24V MPRDY2
PIN0
・
・
・
・
・
・
・
・
・
・
PIN 0 to 7
MPRDY1 ・ ・ Point No. selection
PIN7
"Emergency stop" READY signal ES-
DC24V JOG+ JOG movement (+)
* Mechanical brake power input +24V
JOG- JOG movement (-)
0V
MANUAL MANUAL mode
6 ORG Return-to-origin
/LOCK Interlock
START Start
* When using a brake-equipped robot. RESET Reset
SERVO Servo ON
The above wiring diagram applies to an NPN type I/O unit. The wiring for PNP and
CAUTION serial I/O differs from the above diagram.
EXT connector
Controller 2
4
(Bottom face)
CAUTION
Always grasp the connector body when plugging in and unplugging the cable.
5
■ EXT connector wiring method
1. Wire requirements
The usable wire size is shown below. Strip the sheath from the wire, and use in
that condition. 6
AWG size: 28 to 20
Max. sheath outer dia.: F2.2mm
5 to 6mm 7
2. Connection method
Use either of the following methods to insert the core wire into the power supply
connector's hole, then verify that the wire is locked (cannot be pulled out).
[Using the dedicated tool]
Dedicated tool
(1) Insert the dedicated (2) Insert the end of the (3) Remove the dedicated tool
tool into the upper slot stripped wire into the to release the spring which
to open the spring. wire port until it makes clamps the wire. Lightly
contact with the back pull the wire to verify that it
wall of the port. is securely locked (do not
pull with excessive force).
3
· Perform the above wiring with the EXT connector removed from the controller.
· Only one wire can be inserted into one wire port of the EXT connector.
· When inserting the wire into the terminal, use care to prevent the core wire from
■ Signal Details
• Power input for mechanical brake (+24V, 0V)
This input supplies power for the mechanical brake.
Signal Name Description Type
+24V
Power input for mechanical brake Input
0V
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 READY signal (ES-)
These signals are used by the external safety circuit (e.g., safety enclosure,
manual switch, etc.) in order to perform robot emergency stops. 1
Signal Name Description Type
ES+ Internal power for emergency stop input Output
Emergency stop input (emergency stop
ES- Input
READY signal)
Explanation 2
An emergency stop status is established when the relay contact between ES+
and ES- is open (OFF), and a "servo OFF" status also occurs at that time.
Directly short-circuiting the EXT connectors ES+ and ES- signals will disable
external emergency stops (including the Handy Terminal's emergency stop 3
DANGER button), thereby creating an extremely hazardous condition. Be sure to use ES+
and ES- so that the external safety circuit functions properly.
ES1
Handy Terminal's emergency stop
contact output 1
Connected to Handy Terminal's
safety connector Pin No.14
5
Handy Terminal's emergency stop Connected to Handy Terminal's
ES2
contact output 2 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.
6
When 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. 7
ES1 and ES2 will be short-circuited if the accessory dummy connector is connected to
NOTE COM1.
COM1
2
Handy Terminal
ES
L1
Status
3 N1
L Internal
GND
N
Internal
4 NO
power
NC
1 2 3 4 5 6 7 8
RY
EXT connector
ES+
+24V
ES1
ES2
5 MPRDY1
MPRDY2
0V
External
ES-
"emergency External
stop" 0V
External 24V
6
In order to flexibly accommodate the various safety categories required by customers,
this controller is not equipped with an internal main power shutoff circuit.
7 DANGER Therefore, be sure to install an external main power shutoff circuit and an "emergency
stop" circuit.
NC NC NC
RY RY RY
EXT connector
EXT connector
EXT connector
ES1
ES1
ES1
ES2
ES+
ES+
ES+
MPRDY1
MPRDY2
MPRDY1
MPRDY2
MPRDY1
MPRDY2
ES2
ES2
ES-
ES-
ES-
3
External 0V External 0V External 0V
External 24V
External 24V
*1
External 0V
4
In order to flexibly accommodate the various safety categories required by customers,
this controller is not equipped with an internal main power shutoff circuit.
DANGER Be sure to configure an external main power shutoff circuit to form an emergency
stop circuit.
5
Be sure to check the contact capacity of the relay contact. If the capacity is insufficient,
CAUTION use multiple contacts as needed. (*1 in the diagram)
2
PWR
ERR
3
L
COM1
L1 200V
N1 ROB
I/O
CHARGE
MOTOR
4
I/O
RGEN
6 Item Color
Signal Terminal
Name No.
Terminal Signal
No. Name
Color Content
+COM
1
24VDC 4.7kΩ
Input Logic Internal
circuit circuit
-COM
2
[Output circuit]
4
+COM
Output
Load
Internal
circuit
Logic
circuit 5
24VDC
-COM
2 24VDC 4.7k
circuit circuit
-COM
4 [Output circuit]
+COM
24VDC
5 Internal
circuit
Logic
circuit Output
Load
-COM
■ CC-Link
• Terminal arrangement and connector specifications
No. Name
1
1 DA
2 DB
3 DG
4 NC
5 4 3 2 1
2
5 SLD
• Connection method
Controller CC-Link connector
3
PWR
ERR
L1
COM1
200V
4
N1 ROB
I/O
CHARGE
MOTOR
5
I/O
RGEN
Jump socket
The CC-Link unit supports CC-Link Ver.1.10. The use of Ver.1.10 compatible CC-Link cable
eliminates some restrictions which apply to items such as the cable length between nodes, 6
NOTE etc. For details, refer to the instruction manual for the Ver.1.10 compatible master station
PLC.
■ DeviceNet
• Terminal array and connector specifications
1 No. Name
1 V- (Black)
2 CAN_L (Blue)
3 Shield
2 4 CAN_H
V+
(White)
(Red) 1 2 3 4 5
5
• Connection method
Controller DeviceNet connector
3
PWR
ERR
4 L
L1
COM1
200V
N1 ROB
I/O
CHARGE
MOTOR
MS
5
I/O
RGEN
NS
The performance level (PL) of a safety circuit is determined by the following flow.
l Flow for determining performance levels 5
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. 6
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
calculated PL is equal to or higher than the "performance level (PLr) required
of the safety circuit" (PLr ≤ PL).
7
In the customer's final system, the performance level (PLr) required of the safety
circuit should be determined by means of risk assessment, and then the safety
circuit with the corresponding performance level (PL) should be configured.
Input Reset switch, maintenance mode switch, door switch, external emergency stop
Output Handy Terminal emergency stop output, ENABLE output
3 • Alarm (/ALM) signals (parallel I/O output signals) must be monitored at the host.
Serial I/O alarm (/ALM) signals must also be monitored at the host.
CAUTION • Depending on the customer system requirements, it may be necessary to build a
host system which shuts off the main power when an alarm (/ALM) occurs.
4
■ General connection diagram (Handy Terminal with ENABLE switch)
1 2 3 4 5 6 7 8 14 15 7 8
6
SAFETY COM1
7 8 2
COM1
Controller
3
L1 7 8
N1
L1 L MPRDY E-STOP
AC IN N1 +5V Status Status
N
Internal
+24V
External
emergency stop GND
24V_GND
4
ES1 ES2
4 5 7 8 3 6
GND
+24V EXT
2 S1
Reset switch
EXT
GND GND ES+
SRL1
13 23 T31 T32 33
11 T11
3 12 T12
21 T21
22 T22
T23 14 24 A B 34
ES-
+24V +24V
KA1 GND
MPRDY1
Maintenance switch
4
MPRDY2
Maintenance 11
Input 1 Maintenance 12
S2 11 21
Maintenance 21
Input 2 Maintenance 22
GND
KA2
SRL2 SRL3
Door switch 13 23 T31 T32 13 23 T31 T32 33
T11 Maintenance 11 T11
5 S3
Input 1
Input 2
T12
T21
T22
Maintenance 12
Maintenance 21
Maintenance 22
T12
T21
T22
T23 14 24 A B T23 14 24 A B 34
ES2
External emergency stop SRL4 S_ES2 ES1
13 23 T31 T32
T11
Input 1 T12
6
S4 T21
Input 2 T22
T23 14 24 A B
SAFETY OUT
SRL5
HT1-D emergency stop 13 23 T31 T32 HT1-D emergency stop
T11 33
Input 1 T12 34 Output 1
T21 43
Input 2 Output 2
7
T22 44
T23 14 24 A B
SRL6
HT1-D ENABLE 13 23 T31 T32 HT1-D ENABLE
T11 33
Input 1 T12 34 Output 1
T21 43
Input 2 T22 44 Output 2
+24V T23 14 24 A B
ES1
ES2 S_ES2
12 22
Parts Table
Circuit No. Part Name Type Manufacturer
S1 Reset switch A22 series Omron
S2 Key-selector switch A22TK series Omron
S3 Safety door switch D4 series Omron
S4 Emergency stop switch A22E series Omron
KM1, 2 * Contactor (mirror contact) LC1-D09 Schneider Electronic
Safety relay G7SA-3A1B Omron
KA1, 2
Safety relay socket P7SA-10F-ND Omron
SRL1 to 4 Safety relay unit G9SA-301 Omron
SRL5, 6 Safety relay unit G9SA-501 Omron
* Built-in surge killer
For category 3
KM1 KM2
AC IN
L1
N1
L
N
AC OUT 1
Reset switch
S1
EXT
11
SRL1
T11
13
GND
23
GND
T31 T32 33
ES+
2
12 T12
21 T21
22 T22
T23 14 24 A B 34
ES-
+24V
3
+24V
KA1 GND
MPRDY1
Maintenance switch MPRDY2
Maintenance 11
Input 1 Maintenance 12
S2 11 21
Maintenance 21
Input 2 Maintenance 22
4
GND
KA2
Door switch SRL2
13 23 T31 T32 33
Maintenance 11 T11
Input 1 T12
Maintenance 12
S3 T21
Input 2 Maintenance 21
Maintenance 22 T22
T23 14 24 A B 34
ES2
External emergency stop
Input 1
S_ES2 ES1
5
S4
Input 2
SAFETY OUT
SRL3
HT1-D emergency stop 13 23 T31 T32 HT1-D emergency stop
Input 1
T11
T12
T21
33
34
43
Output 1 6
Input 2 T22 44 Output 2
T23 14 24 A B
SRL4
HT1-D ENABLE 13 23 T31 T32 HT1-D ENABLE
T11 33
7
Input 1 T12 34 Output 1
T21 43
Input 2 T22 44 Output 2
+24V T23 14 24 A B
ES1
ES2 S_ES2
12 22
Parts Table
For category 2
KM1
1 AC IN
L1
N1
L
N
AC OUT
Reset switch
S1
EXT
2 11
SRL1
T11
13
GND
T31 T 32 23
ES+
T12
12
T21
T22
T23 14 A B 24
ES-
+24V
3
+24V
KA1 GND
MPRDY1
Maintenance switch MPRDY2
S2 Input 1 Maintenance 11
Maintenance 12
11
4
GND
KA2
Door switch SRL2
13 T31 T32 23
T11
S3 Input 1 Maintenance 11
T12
Maintenance 12
T21
T22
T23 14 A B 24
ES2
S4 Input 1
S_ES2 ES1
SAFETY
Input 2 Output 1
HT1-D ENABLE
7
Input 1 HT1-D ENABLE
Input 2 Output 1
+24V
ES1
ES2 S_ES2
12
Parts Table
• Use the safety short connector to connect during automatic operation. (short the
following: 1-2, 3-4, 5-6, 7-8)
• Do not short the safety short connector's ES1 and ES2. Doing so will disable the
3
CAUTION
Handy Terminal's "connection check" function when the dummy connector is
mounted at COM1.
During maintenance
4
Main power (motor drive power) is supplied only when the door switch is
disabled, with all the following conditions satisfied.
Conditions
• The maintenance mode switch's NC contact is ON (closed). 5
• The external emergency stop button's NC contact is ON (closed).
• The Handy Terminal emergency stop button's NC contact is ON (closed).
• The Handy Terminal ENABLE switch's NO contact is ON (closed).
The door switch is enabled when the Handy Terminal is disconnected. (Connection 6
CAUTION confirmation occurs at the ES1 and ES2 loop.)
Contents 2
7
1
7
3.1 Data overview
1
2
RUN type
Position
setting type ("Standard setting" or
"Custom setting") according to the
application.
5
3 Speed
(1) Standard setting
4 Accel. Optimum positioning is provided
5 Decel. simply by specifying the payload.
6 Push 6
7 Zone (-) (2) Custom setting
Speed and acceleration can be
8 Zone (+) set in SI units.
9 Near width
10
11
Jump
Flag 7
12 Timer
P1 to P255
2 1
Item
RUN type
Description
Specifies the positioning operation pattern.
2 Position Specifies the positioning target position or movement amount.
3 Speed Specifies the positioning speed.
4 Accel. Specifies the positioning acceleration.
3 5 Decel.
Specifies the positioning deceleration
(as a percentage of the acceleration).
6 Push Specifies the electrical current limit value for "Push" operations.
7 Zone (-)
Specifies the "personal zone" output range.
8 Zone (+)
4 9 Near width
Specifies the "near width" zone
(distance tolerance relative to target position).
Specifies the next movement destination, or the next merge
10 Jump operation merge destination point No. following positioning
completion.
11 Flag Specifies other information related to the positioning operation.
5 12 Timer Specifies the waiting time (delay) after positioning completion.
Changing the "Point Type" setting clears all point data which has been in use.
CAUTION Be sure to specify the "Point Type" setting before editing the point data.
Speed
Speed
The speed is specified in "mm/s" units.
2 "Speed" = 600.00 (mm/s) The max. permissible setting value is the
max. accel. for each robot type.
"Accel." = 4.00 (m/s2) "Decel. speed" = 100%
The acceleration is set in m/s2 Specified as a percent-
units. The max. permissible age of the accel. speed.
setting value is the max. accel.
3 for each robot type. Time
The payload setting is specified by servo parameter K76 (Payload 1). (See section 3.4.2
TIP "Parameter details" of this manual for details.)
6 5
6
Decel.
Push
1 to 100
1 to 100
%
%
100
100
7 Zone (-)
-9999.99 to 9999.99 mm 0.00
8 Zone (+)
9 Near width 0.00 to 9999.99 mm 1.00
7 10
11
Jump
Flag
0 to 255
0 to 1
-
-
0
-
12 Timer 0 to 30000 ms 0.00
"Depends on robot type" indicates that the default setting varies according to the robot type
TIP being used.
TIP
For positioning operation details, see section 5.3 "Positioning operation".
2
1. ABS 2. INC
Positioning movement to an origin-point Positioning movement occurs to a specified
keyed target position occurs. distance from the current position.
Speed
Speed
3
Position
Current position
P
Position P
4
3. ABS Merge 4. INC Merge
Continuous positioning to multiple points Continuous positioning to multiple points occurs
occurs with speed changes, but without with speed changes, but without deceleration stops.
deceleration stops. Speed
Speed 5
Position
Position
P1 P2 P1 P2
6
5. ABS Push 6. INC Push
Push operation occurs at the specified Push operation occurs at the specified push force.
push force. Speed
Speed
7
Push
Push Position
Position
P
P
N
N
Push
Position
Push
Position P
P
2: Position
Specifies the positioning target position or movement amount.
1 · When the "RUN type" is specified as "ABS (absolute position)
.................................. Target position.
ABS setting
4 (0.00) (50.00)
3: Speed
Specifies the positioning speed.
· Standard setting...The speed is specified as a percentage (%) of each robot's max. speed.
· Custom setting...The speed is specified in mm/s units.
5
In the case of push operation, make this setting so that the movement speed does not
CAUTION exceed 20.00 [mm/s].
4: Accel.
6 Specifies the positioning acceleration.
· Standard setting...The acceleration is specified as a percentage (%) of each
operation's optimum acceleration.
· Custom setting...The acceleration is specified in m/s2 units.
7 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
WARNING
appropriate values.
5: Decel.
Specifies the positioning deceleration setting as a percentage (%) of the accel.
setting value.
<Setting examples>
· For "Standard setting" with an "Accel." setting of 80% and a "Decel." setting of 70%:
80% × 70% = 56% (56% of the optimum accel.).
· For "Custom setting" with an "Accel." setting of 4.00 (m/s2) and a "Decel." setting of 70%:
4.00 (m/s 2) × 70% = 2.80 (m/s 2).
6: Push
Specifies the electrical current limit value during a push operation. The push
force is specified as a percentage (%) of each robot's rated current. 1
A 100% "push force" is equal to the rated current, and the thrust generated by the
rated current is called the "rated thrust". The rated thrust indicated by each robot's
CAUTION specifications is the theoretical (guideline) thrust when the motor is running at its
rated current. The actual thrust varies according to friction conditions, etc.. 2
7: Zone (-)
8: Zone (+)
"Zone (-)" specifies the personal zone output (PZONE) range's lower limit (minus-
direction limit). 3
"Zone (+)" specifies the personal zone output (PZONE) range's upper limit (plus-
direction limit).
The personal zone output can be specified for each point data, and it switches
ON when the robot's current position enters the personal zone.
4
The following example shows a personal zone set as the absolute position range of
100.0 to 150.00mm, as measured from the origin point.
Origin point
(0.00)
Zone (-)
(100.00)
Zone (+)
(150.00)
Position 6
9: Near width
Specifies the near width zone (distance tolerance relative to target position) for
the "near width output". The "near width output" switches ON while the robot is
passing through the near width zone.
7
When the RUN type is "Decel Push", this range represents the position (distance
from target position) where deceleration ends and the push status begins.
Target position P
10: Jump
Specifies the next point No. when movement to a next operation is to occur after
1 a positioning completion. If this setting is specified as "0", there is no movement
to a next point (operation ends).
In merge operations, this setting specifies the merge destination point No.
3
Time Time
After positioning to P1 is completed, positioning After positioning to P1 is completed, positioning
to P2 occurs. to P2 occurs without a deceleration stop.
4 11: Flag
Specifies the following setting items with regard to the positioning operation.
6 For details regarding the payload selection, see section 5.7.4 "Changing the payload".
TIP
12: Timer
Specifies the waiting time (delay) before proceeding to the next specified (by
Speed
P1 operation P2 operation
Time
Timer = 500ms
After completion of the P1 operation, there is a 500ms delay (wait)
before the P2 operation begins.
Option parameter
These parameters are for optional settings (CC-Link and DeviceNet, 2
etc.), and include the "node No." and "baud rate" settings.
These parameters are robot-specific parameters, and they include
Servo parameter
"encoder pulse count", "gain", "rating", and "max. current" settings.
■ RUN parameters
• Positioning 5
No. Name Setting / Setting Range Units Default Restart
1 (-) soft limit -9999.99 to 9999.99 mm 0.00 -
Depends on
2 (+) soft limit -9999.99 to 9999.99 mm -
robot type
3 In-position 0.01 to 1.00 mm 0.01 - 6
0: Continue push after judgment, no
push failure judgment
1: Positioning after judgment, no push
failure judgment
4 Push mode - 0 -
2: Continue push after judgment, with
push failure judgment 7
3: Positioning after judgment, with
push failure judgment
5 Push judge time 1 to 60000 ms 10 -
Depends on
6 Push speed 0.01 to 20.00 mm/s -
robot type
7 Zone (-) -9999.99 to 9999.99 mm 0.00 -
8 Zone (+) -9999.99 to 9999.99 mm 0.00 -
9 Speed override 1 to 100 % 100 -
10 JOG speed 1 to 100 % 100 -
11 Inching width 0.01 to 1.00 mm 1.00 -
MOVE output
12 0.01 to 100.00 mm/s 0.01 -
level
• Return-to-origin
No. Name Setting / Setting Range Units Default Restart
1 13 Origin speed 0.01 to 100.00 mm/s
Depends on
robot type
-
Depends on
14 Origin dir. 0: CCW direction; 1: CW direction - -
robot type
15 Origin coordi. 0: Standard; 1: Reversed - 0 -
2 16 Origin shift -9999.99 to 9999.99 mm 0.00 -
• Speed switch
No. Name Setting / Setting Range Units Default Restart
Speed switch
3 17
function
0: Disable 1: Enable - 0 -
■ I/O parameters
• Terminal assignment
4 No. Name Setting / Setting Range Units Default Restart
21 OUT0 select 0: No output 5: ZONE - 1 Required
22 OUT1 select 1: PZONE 6. MOVE - 2 Required
2: NEAR 7: /WARN
23 OUT2 select 3: TLM-S 8: MANU-S - 3 Required
5 24 OUT3 select 4: ORG-S - 4 Required
0: None
25 POUT select 1: At positioning completion (AFTER) - 1 Required
2: At positioning start (WITH)
• Function selection
6 No. Name Setting / Setting Range Units Default Restart
30
Alarm No. 0: Disable 1: Enable - 0 -
output function
31 SERVO sequence 0: Edge 1: Level - 0 -
7 32
JOG response
0: JOG movement only
1 to 1000: Inching at leading edge, with ms 0 -
time JOG movement after specified time elapses.
33 Input filter 1 to 10 ms 2 -
• Communication
No. Name Setting / Setting Range Units Default Restart
Node
38 1 to 16 - 1 -
(slave address)
■ Option parameters
• I/O function
No. Name Setting / Setting Range Units Default Restart
80 Option enable 0: Disable 1: Enable - 1 -
• CC-Link
No. Name Setting / Setting Range Units Default Restart
81 Node 1 to 64 - 1 Required 1
0: 156Kbps
1: 625Kbps
Transmission
82 2: 2.5Mbps - 4 Required
rate
3: 5Mbps
4: 10Mbps
2
• DeviceNet
No. Name Setting / Setting Range Units Default Restart
81 Node 0 to 63 - 0 Required
82
Transmission
rate
0: 125Kbps
1: 250Kbps - 2 Required 3
2: 500Kbps
■ Servo parameters
• Adjustment (for user adjustments)
No. Name Setting / Setting Range Units Default Restart
4
Payload 1 Depends on
76 0 to max. payload (K47) kg -
(for registration) robot type
Max. payload Depends on
77 0.01 to max. accel. (K48) m/s 2 -
accel.1 *1 robot type
78
Payload 2
0 to max. payload (K47) kg
Depends on
-
5
(for registration) robot type
Max. payload Depends on
79 0.01 to max. accel. (K48) m/s2 -
accel.2 *2 robot type
*1. When "payload 1" (K76) is registered, this setting is converted to a value calculated by the
prescribed formula.
*2. When "payload 2" (K78) is registered, this setting is converted to a value calculated by the
6
prescribed formula.
The plus and minus directions differ according to the "origin coordi." (K15) setting. For soft
4 TIP limit details, see section 5.7.1 "Soft limit function".
5 Function
Specifies the range in which end-of-positioning is recognized.
7 Setting Value
0
Description
Push continuation after completion, with no failure judgment.
1 Positioning after completion, with no failure judgment.
2 Push continuation after completion, with failure judgment.
3 Positioning after completion, with failure judgment.
For zone output details, see section 5.7.2 "Zone output function".
TIP
Function
0.01 to100.00 0.01 mm/s -
6
Specifies the minimum movement speed which is output by the MOVE
(movement-in-progress) output.
2 0
Standard (Plus-polarity is opposite direction from return-to-origin
direction.)
1 Reverse (Plus-polarity is same direction as return-to-origin direction)
• Speed switch
4 Setting Range Default Units Restart
K17 Speed switch function
0 to 1 0 - -
Function
Enables/disables the speed switch function.
5 Settings
Settings Description
0 Disable
1 Enable
6
This function is available from controller's software version 1.06.111 onwards. This
parameter can be changed from the HT1 with software version 1.09 onwards and the
CAUTION TS-Manager with software version 1.2.1 onwards.
This function is available from controller's software version 1.06.111 onwards. The
parameter can be changed by the HT1 with the software version 1.09 onwards and by
CAUTION the TS-Manager with the software version 1.2.1 onwards.
■ I/O parameters
• Terminal assignment related parameters
No. Name Setting / Setting Range Default Units Restart 1
K21 OUT0 select 0 to 8 1 - Required
K22 OUT1 select 0 to 8 2 - Required
K23 OUT2 select 0 to 8 3 - Required
K24 OUT3 select 0 to 8 4 - Required 2
Function
Specifies the functional signals (shown below) for the control outputs (OUT0 to
OUT3).
Settings 3
Setting Value Signal Type Description
0 - No output
1 PZONE Personal zone output
2 NEAR NEAR output
3 TLM-S Push status 4
4 ORG-S Return-to-origin end status
5 ZONE Zone output
6 MOVE Movement-in-progress
7
8
/WARN
MANU-S
Warning output
MANUAL mode status
5
Setting Range Default Units Restart
K25 POUT select
0 to 2 1 - Required
Function 6
Specifies the output timing for the POUT0 to POUT7 point No. outputs.
Settings
Setting Value Description
0
1
No output
Output at positioning end (AFTER)
7
2 Output at movement start (WITH)
For details regarding alarm No. outputs, see section 5.7.3 "Alarm No. output function".
TIP
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
WARNING
appropriate values.
Payload, acceleration, and deceleration settings which differ greatly from the actual values will
WARNING
result in operation time loss, shorten the robot life, and cause vibration. Be sure to set them to
appropriate values.
4
■ Option parameters
Setting Range Default Units Restart 7
K80 Option enable
0 to 1 1 - -
Function
Specifies the I/O enable/disable setting.
Settings
Setting Value Description
0 Disable
1 Enable
■ CC-Link
Setting Range Default Units Restart
1 K81 CC-Link node
1 to 64 1 - Required
Function
Specifies the CC-Link communication node.
3 Settings
Setting Value Description
0 156Kbps
1 625Kbps
2 2.5Mbps
4 3 5Mbps
4 10Mbps
The baud rate setting specified here must be the same as the baud rate specified at
the master station. A normal data link cannot be established if the settings are not the
5 CAUTION same.
■ DeviceNet
Setting Range Default Units Restart
K81
6 DeviceNet node
0 to 63 0 - Required
Function
Specifies the DeviceNet communication node.
The baud rate setting specified here must be the same as the baud rate specified at
the master station. A normal data link cannot be established if the settings are not the
CAUTION same.
Contents 2
7
1
7
4.1 I/O specifications
NPN
16
16
input points, 24VDC ± 10%, 5.1mA/point, plus common
output points, 24VDC ± 10%, 50mA/point, sync type
2
Parallel I/O
16 input points, 24VDC ± 10%, 5.5mA/point, minus common
PNP
16 output points, 24VDC ± 10%, 50mA/point, source type
CC-Link CC-Link Ver.1.10 compatible, remote device station (1 station)
Serial I/O
DeviceNet
Number of channels occupied by DeviceNet slaves: Inputs:
6CH; Outputs: 6CH.
3
4.1.1 I/O specifications 1 (NPN and PNP type)
Both the NPN and PNP types have 16 input points and 16 output points.
4
■ I/O signal table
"Station No." and "baud rate" settings must be specified in order for the TS series to be
recognized as remote station in the CC-Link system. These settings can be specified in the
2 NOTE support software (TS-Manager), or from the HT1. (For the setting procedure, see section 5.3
"Setting Option parameters".
3 No.
RYn0
Signal Name
PIN0
Description No.
RXn0
Signal Name
POUT0
Description
n: These values are determined in accordance with the node No. setting.
MAC ID and baud rate settings are required in order for TS series to be properly recognized
as a slave station in the DeviceNet system. These settings can be specified from the support
NOTE software (TS-Manager), or from the HT1. (For the setting procedure, see section 5.3 "Setting
2 Option parameters".)
3 Channel No.
bit0
Signal Name
PIN0
Description Channel No.
bit0
Signal Name
POUT0
Description
6 bit12
bit13
/LOCK
START
Interlock
Start
bit12
bit13
BUSY
END
Operation-in-progress
Operation-end
bit14 RESET Reset bit14 /ALM Alarm
bit15 SERVO Servo ON bit15 SRV-S Servo status
bit0 - - bit0 - -
7 bit1 - - bit1 - -
bit2 - - bit2 - -
bit3 - - bit3 - -
bit4 - - bit4 - -
bit5 - - bit5 - -
bit6 - - bit6 - -
bit7 - - bit7 - -
m+1 n+1
bit8 - - bit8 - -
bit9 - - bit9 - -
bit10 - - bit10 - -
bit11 - - bit11 - -
bit12 - - bit12 - -
bit13 - - bit13 - -
bit14 - - bit14 - -
bit15 - - bit15 - -
"m", "n": These values are determined in accordance with the channel setting.
status
Return-to-origin
ORG-S *3
ON at return-to-origin end.
end status
TLM-S *3 Push status ON during push operation.
/WARN *3 Warning output OFF when a warning alarm occurs.
NEAR *3 NEAR output ON near the end of positioning.
Movement-in-
MOVE *3
ON while movement is in progress.
progress
Operation-in-
BUSY ON while operation is in progress.
progress
END Operation end Operation result output; ON at normal end.
/ALM Alarm ON when normal. OFF when alarm occurs.
SRV-S Servo status ON when servo is on.
*1. Enabled when assigned to the JOG+ signal, with Speed switch function set to "Enable" and
MANUAL set to "OFF".
*2. Enabled when assigned to the START signal, with /LOCK set to OFF in the MANUAL mode.
*3. Used for OUT0 to OUT3 signal assignment by parameter selection. The factory settings when
shipped are as follows: OUT0 = PZONE, OUT1 = NEAR, OUT2 = TLM-S, OUT3 = ORG-S.
■ JOG+ / JOG-
5
While this input is ON in the MANUAL mode, JOG movement to the specified
direction's (+/-) soft limit occurs. When this input switches OFF, a deceleration
stop occurs. (See section 5.4.2 "JOG movement".)
■ SPD
6
Switches the overall positioning operation speed between two levels.
* Assigned to JOG+ terminal when "Speed switch function" (K17) is set to "Enable".
CAUTION
This function is available from controller's software version 1.06.111 onwards. 7
Refer to "5.3.8 Speed switch function" in Chapter 5 for more details.
NOTE
■ 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 operation, thereby setting the robot's
coordinates and enabling positioning operations. The return-to-origin method
varies according to the robot type and configuration. (See section 5.2 "Origin
search (return-to-origin)".)
■ /LOCK (interlock)
A deceleration stop occurs if this input switches OFF during operation. This input
must be ON in order to operate the robot.
■ START
This input begins positioning to the point data specified by the PIN0 to PIN7 point
1 No. select input.
■ TEACH
2 This input sets (teaches) the current position at the point data position specified
by PIN0 to PIN7 (point No. select).
The TEACH input is only enabled when in the MANUAL mode (MANUAL = ON), with the
NOTE /LOCK (interlock) input OFF.
3
■ RESET
The following operations occur at the leading edge of the RESET signal ON.
(1) Alarm reset
After an alarm has occurred and its cause has been eliminated, the alarm
4 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".)
5 (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 stop, the "remaining movement
amount" for the previous relative positioning operation is cleared.
6 ■ SERVO
A servo ON status is established while this signal is ON. The servo ON status is
output to SRV-S.
A servo ON is not possible while an alarm is active.
7 A "servo OFF" should be performed only when operation is stopped. Do not use
CAUTION "servo OFF" to perform emergency stops.
■ END
Outputs the operation's execution result. This signal switches OFF during
operation, and switches ON if operation ends normally. If the operation ends in
error, this signal remains OFF.
The END signal will not switch ON after a normal operation stop if the RUN command input
TIP is ON. The END signal switches ON only after the RUN command input switches OFF.
■ /ALM
This signal is ON during a normal status, and switches OFF when an alarm occurs.
1 ■ SRV-S
This signal is ON while a "servo ON" status exists, and switches OFF when a
"servo OFF" status occurs.
■ PZONE
2 This signal switches ON during a positioning operation when the current position
enters the point data's "Zone+" and "Zone-". After positioning ends, this signal remains
enabled until the next positioning operation is executed.
This signal is enabled only when assigned to one of the OUT0 to OUT3 control outputs.
■ NEAR
3 This signal switches ON during a positioning operation when the current position
enters tolerance distance range versus the target position (the tolerance distance is
specified by the point data's "Near Width" setting). After positioning ends, this signal
remains enabled until the next positioning operation is executed.
4 This signal is enabled only when assigned to one of the OUT0 to OUT3 control outputs.
■ TLM-S
This signal output is ON during a push operation.
This signal is enabled only when assigned to one of the OUT0 to OUT3 control outputs.
■ ORG-S
5 This signal output is ON when return-to-origin is complete, and is OFF when
incomplete.
This signal is enabled only when assigned to one of the OUT0 to OUT3 control outputs.
■ ZONE
6 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.
It is disabled until a return-to-origin is completed.
7 ■ MOVE
This signal switches ON while movement is in progress (while the actual speed
exceeds the "movement-in-progress" output level (K12)). This signal is enabled
only when assigned to one of the OUT0 to OUT3 control outputs.
■ /WARN
This signal remains OFF while a warning alarm is active, and is enabled only
when assigned to one of the OUT0 to OUT3 control outputs.
■ MANU-S
This signal switches ON when the MANUAL mode input switches ON, and switches
OFF when the MANUAL mode inputs switches OFF.
This signal is enabled only when assigned to one of the OUT0 to OUT3 control outputs.
■ READY (R-RDY)
This signal outputs the CC-Link communication status. This signal is ON when the
communication status is normal. (This signal is enabled only when using the CC-
Link option.)
Contents 2
7
5.1 Operation procedure
Control power
(L1, N1) 2
Main power READY Initial processing
(MPRDY)
Operation end
(END)
Emergency stop *1 3
(E-STOP)
Main power
(L, N)
Alarm
(/ALM)
4
Interlock
(/LOCK)
5
Servo ON
(SERVO)
Servo status
(SRV-S)
Return-to-origin
(ORG)
Return-to-origin
*2 6
end status (ORG-S)
Operation-in-progress
(BUSY)
3 *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.
* In the case of CC-Link, the time delay is not required if remote READY (R-RDY) is used
to check whether the link state is normal.
Error occurrence 2
Alarm
(/ALM)
Reset
(RESET) *1
Servo ON
(SERVO)
3
Servo status
(SRV-S)
Start
(START)
4
Operation-in-progress
(BUSY)
Operation end
(END)
5
(1) /ALM switches OFF if an error occurs during operation. BUSY and SRV-S 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.
6
(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 be cleared simply by eliminating the cause and executing a RESET, others
7
require a restart. For alarm details, see Chapter 6 "Troubleshooting".
*2 : The No. output at alarm occurrences can be enabled/disabled by the K30 (Alarm No.
output function) I/O parameter setting. For details, see " ■ I/O Parameters" item in
section 3.4.2 "Parameter details".
3 : Factory setting;
Absolute function
: Supported; : Not supported
S S
O O
6 Motor side
K13
Return-to-origin direction
K13
Motor side Return-to-origin direction
S: Return-to-origin start position; 0: Origin point; L: Reversed (return) movement amount; K13: Return-to-origin speed
■ Sensor method
Movement in the return-to-origin direction occurs when a return-to-origin begins,
7 and movement stops when the sensor detects the origin point dog. A return-to-
origin end status is then established.
Return-to-origin direction (K14) = 0 (CCW) Return-to-origin direction (K14) = 1 (CW)
Sensor Sensor
O S S O
K13 K13
Motor side Return-to-origin direction Motor side Return-to-origin direction
■ Mark method
When the mark method is specified (K66 (return-to-origin method): "Mark") as
origin point detection method, movement in the return-to-origin direction occurs
when a return-to-origin begins, and movement stops at the nearest motor
reference position. A return-to-origin end status is then established.
The appropriate return-to-origin method is factory-set for each robot according to its
CAUTION type, and this factory setting should not be changed.
Return-to-origin
direction (K14) Standard Direction
Origin coordinates (K15)
Reverse Direction
2
Return-to-origin direction Return-to-origin direction
CCW
O
(Origin point)
O
(Origin point) 3
Coordinate "plus" direction Coordinate "plus" direction
The machine reference must be readjusted if it is not within the 25 to 75% range (or if it is
outside the allowable range of the robot being used). For details on the adjustment
NOTE procedure, please contact us.
Operation-in-progress
(BUSY)
Operation end
(END)
4
Time
Target position
Origin point
Movement amount = 300.00mm
Current position
If relative positioning (INC) is stopped while in progress and then restarted, movement
occurs for only the remaining movement amount. To perform new relative positioning from
TIP the stopped position, the RESET command must first be executed to clear the remaining
movement amount.
Speed
Acceleration Deceleration
4 Time
Speed
Acceleration Deceleration
7
"Acceleration setting range: 0.01 to 8.00 [m/s2] "Deceleration" setting range: 1 to 100 [%]
The max. input value is the max.
speed of each robot type. Set as a percentage of the acceleration value.
The max. acceleration is the max.
payload acceleration.
Time
6
Accel. 2 Accel. 2
30% 360.00mm/s
■ Acceleration S-curve
The TS series features an S-curve function (standard item) to ensure smooth
1 acceleration/deceleration. This results in a maximum acceleration which is 1.4
times that of a trapezoidal acceleration/deceleration format.
Speed
Max. accel.
3 Time
2
00h Response
Point No. output
(POUT0 to POUT7)
Positioning operation
3
Start (START)
Td 5ms
Operation-in-progress
(BUSY)
4
Operation end
(END)
4 In merge operations, the operation's merge timing is adopted as the point No. output timing.
NOTE
5
Point No. select
00h Setting 00h
(PIN0 to PIN7)
Error occurrence
6
START
7 Operation-in-progress
(BUSY)
Operation end
(END)
If an error occurs before positioning ends, operation stops and the BUSY signal
switches OFF. The END signal remains OFF.
Type Cause
· START input occurred during an operation fault status (alarm,
Error detected prior servo OFF, interlock, return-to-origin not completed.)
to operation · START input occurred with data either not set, or with point
data set for a position which exceeds the soft limit.
· Alarm occurred during operation.
Error detected during
· Interlock stop processing occurred during operation.
operation
· A push failure occurred during a push operation.
Speed 2
Accel. 1 Decel. 2
3
Speed 3
Speed 1 Decel. 3
Accel. 1
Time 4
Point data settings
Position
No. RUN type Speed[%] Accel. [%] Decel. [%] Jump
[mm]
P1
P2
ABS merge
ABS merge
200.00
400.00
10
100
100
100
100
100
2
3
5
P3 ABS 500.00 30 100 100 0
· Select "ABS merge" or "INC merge" as the RUN type, then set the next point to be merged
at the "Jump" item. 6
· Even if a "merge" RUN type is selected, merging will not occur if the "Jump" setting is "0".
NOTE In this case, standard positioning occurs.
· If the merge destination target positions are in both the forward and reverse directions, a
deceleration stop occurs, followed by positioning in the opposite direction.
7
When performing merge operations, be sure to create an operation pattern which
CAUTION avoids the deficiencies shown below.
Desirable deceleration
Time
Operation 1 Operation 2
(2) When the acceleration (deceleration) distance required to reach the merge
destination speed is insufficient:
1 Speed
Desirable acceleration
2
Time
Operation 2
3 Operation 1
Speed
2
Torque limit zone
Speed
3
Target position
5
Push status
(TLM-S)
Operation end
(END) 6
• Movement speed during push operation
A push operation is performed by suppressing the torque that is generated by
limiting the current. Since this operation also suppresses the current needed to
CAUTION move the robot, a problem may occur if the movement speed is high.
Set the push speed to meet the following conditions:
7
Speed during push operation ≤ 20.00 [mm/s]
At Ver.1.02.102 and later controllers, the maximum push operation speed is limited
NOTE according to the push speed.
■ Push force
The push force is specified as a percentage of the rated current for each robot type.
• About maximum push force
A thrust generated at the push upper limit is called "maximum push force". The
maximum push force indicated in each robot's specifications is the theoretical
value (guideline). So, the accrual thrust may vary depending on working
CAUTION conditions, such as friction and others.
• About push upper limit
This push upper limit shows the maximum setting value which can be set by the
push force. This value is unique to each robot.
3
TLM-S
(push status)
END
(operation end)
"Push end" conditions: (T1 + T2 + T3 push judgment time (K5)
7 CAUTION In these cases, taking account of the effects on the object to be pushed, make
adjustments such as to extend the push judgment time, reduce the acceleration, and
set a timer before starting push operation.
TLM-S
(push status)
Operation end 6
(END)
· The "push force", "push judgment time", "operation after the push judgment", and "push
NOTE
failure judgment", etc., settings are specified in the same manner as for a standard push
operation. 7
· The torque limit remains in effect until the next operation begins.
A "near width" distance should be specified which allows an adequate distance for
the deceleration speed to be reached. A fast push speed and very small "near width"
CAUTION distance, for example, could hinder operation.
4
Time
5
Timer 1 Timer 2
Operation-in-progress
(BUSY)
Operation end
(END)
6
Point No. output
(POUT0 to POUT7) 00h Operation 1 response Operation 2 response Operation 3 response
· The next positioning point No. for continuous operation is specified by the "Jump" setting.
· If a delay (wait) time is desired before proceeding to the next positioning operation, it can
be specified at the "Timer" setting.
NOTE · When "Jump" is not specified (set to 0), the operation ends when that positioning is
completed.
When the "POUT select" I/O parameter is set to "AFTER", the point No. output occurs after
TIP each positioning operation, regardless of the timer setting.
Speed 2
Accel. Decel.
Movement-in-progress
output level (K12)
Target position 3
Zone - Zone +
Position
Near width
Movement-in-progress
output (MOVE)
Personal zone
output (PZONE)
4
Near width output
(NEAR)
3 SPD Speed
OFF Speed 1 = Specified speed
ON Speed 2 = Specified speed × Switched speed (K18) / 100
* Specified speed means "speed data specified at each point data × speed override (K9) / 100".
4 ■ Timing chart
Point No. select
00h Setting 00h Setting 00h
(PIN0 to PIN7)
Switched speed
OFF ON
(SPD)
5 Speed 1
Speed 2
START
6 Operation-in-progress
Td Td
(BUSY)
Operation end
(END)
7
This function is available from controller's software version 1.06.111 onwards.
CAUTION
100%
2
Position
P1 P2
(200.00mm) (500.00mm)
100%
3
Position Speed Accel. Decel.
No. RUN type Flag
[mm] [%] [%] [%]
P1 ABS 200.00 100 100 100 1
P2 ABS 500.00 100 100 100 0
4
(1) P1 P2 positioning occurs.
(2) Return to P1.
■ Setting example 2 (movement between 2 points, custom setting)
Speed
5
500.00mm/s
Position
6
250.00mm/s
P1 P2
(200.00mm) (500.00mm)
2
P1
(0.00mm) Position
P2
(200.00mm)
100%
100%
6 10%
P1 Position
(0.00mm) P2 P3
(200.00mm) (400.00mm)
P4
(500.00mm)
100%
7
Position Speed Accel. Decel.
No. RUN type Jump
[mm] [%] [%] [%]
P1 ABS 0.00 100 100 100 0
P2 ABS merge 200.00 100 100 100 3
P3 ABS merge 400.00 10 100 100 4
P4 ABS 500.00 100 100 100 0
Workpiece
2
P1 Position
(0.00mm) P2
(350.00mm)
100%
1000.00mm/s
100.00mm
P3 P2
(350.00mm) (450.00mm)
1000.00mm/s
7
Position Speed Accel. Decel. Push Near Width
No. RUN type
[mm] [%] [%] [%] Force [%] [mm]
P1 ABS 0.00 1000.00 4.00 100 100 1.00
P2 ABS Push 450.00 1000.00 4.00 100 70 100.00
P3 ABS 350.00 100.00 1.00 100 100 1.00
*2
MANUAL mode
status (MANU-S)
3 Interlock
(/LOCK)
*3
JOG plus-direction
movement (JOG+)
4 JOG minus-direction
movement (JOG-)
Teaching
5 (TEACH)
Operation-in- Td
progress (BUSY)
Operation end
(END)
JOG
Speed
2
Inching width
(K11)
Jog speed
(K10)
END
• When the K32 (JOG response time) I/O parameter is set as "0": 4
Movement continues at the JOG speed (K10) until the JOG input switches OFF.
• 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 speed (K10) until the JOG movement
5
input switches OFF.
The soft limit is disabled if a return-to-origin has not been completed. Use care when
CAUTION performing operations at this time. 6
The TEACH function is disabled if a return-to-origin has not yet been completed.
2 NOTE
Current position
5 • Writing the current position to a point for which data does not exist
Position Speed Accel. Decel.
No. RUN type Flag
[mm] [%] [%] [%]
P3 - - - - - -
6 ▼ TEACH
Position Speed Accel. Decel.
No. RUN type Flag
[mm] [%] [%] [%]
P3 ABS 210.45 100 100 100 0
The current position is written to the position data, and default values are adopted for the other data.
7
• Point No. setting conditions
A delay of 5ms or longer (guideline value) is required between the point No. input
and the current position TEACH command, and this TEACH command must be kept
ON until the BUSY signal switches ON. A malfunction may occur if the point No. is
CAUTION not set properly due to an insufficient delay time.
Moreover, if the host unit's timer is used to specify the delay time, be sure to
consider the timer response accuracy to ensure that the actual delay time is 5ms or
longer.
■ DeviceNet 4
Inputs (Master Remote) Output (Remote Master)
Channel No. Signal Name Description Channel No. Signal Name Description
m+2 WIN0 Execution command n+2 WOUT0 Status
m+3
m+4
WIN1
WIN2 Command option
n+3
n+4
WOUT1
WOUT2 Command response
5
m+5 WIN3 n+5 WOUT3
"m", "n": These values are determined in accordance with the channel setting.
4 Jump write
Flag write
0209h
020Ah
Point No.
Point No.
Jump data
Flag data
Point No.
Point No.
-
-
Timer write 020Ch Point No. Timer data Point No. -
• "Position", "speed", "acceleration", "deceleration", and "push force" writing occurs in the
5 RAM. To save the data to memory, the "operation type" must be written after writing each
of these data items.
NOTE • 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).
6
■ Point data reading
Command Command Option Command Response
Name
WIN0 WIN1 WIN2, WIN3 WOUT1 WOUT2, WOUT3
• The permissible point No. setting range at the command option is "1 (0001h) to 255
(00FFh)".
NOTE
• 2-word data is registered (Little Endian) at the command response (WOUT2, WOUT3).
■ Parameter writing
Name
Command
WIN0 WIN1
Command Option
WIN2, WIN3 WOUT1
Command Response
WOUT2, WOUT3
1
Speed override (K9)
0400h 0009h Speed override - -
write
JOG speed (K10)
0400h 000Ah JOG speed - -
write
Inching width (K11)
0400h 000Bh Inching width - -
2
write
■ Parameter reading
Name
Command Command Option Command Response 3
WIN0 WIN1 WIN2, WIN3 WOUT1 WOUT2, WOUT3
Speed override (K9)
0500h 0009h - - Speed override
read
JOG speed (K10)
0500h 000Ah - - JOG speed
read
Inching width (K11)
4
0500h 000Bh - - Inching width
read
2-word data is registered as the command response (WOUT2, WOUT3) (Little Endian).
NOTE 5
■ Special codes
Status clear
WIN0 WIN1 WIN2, WIN3 WOUT1 WOUT2, WOUT3
6
0000h - - - -
(no execution)
Command response
0F00h - - 0000h 00000000h
clear
■ Status 7
Status
Name Description
WOUT0
Command ready 0000h Command execution is enabled.
Command-in-
0100h Command has been received and is being executed.
progress
Command-end 0200h Command ended normally.
Command ended in error alarm.
Command error end 40xxh
The error alarm No. is output as the "xx" value.
• 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 6.4 "Alarms:
Possible causes and actions ".
NOTE
• Error alarm denotes "Error alarm (internal causes)" and "Error alarm (external causes)".
• For details regarding error alarms, see section 6.1 "Alarm groups".
2 Command
Td Td
Status
(WOUT0) 0000h 0200h 0000h 0200h 0000h
3 Command response
0100h
00000000h 00002710h(=10000)
0100h
00004E20h(=20000)
(WOUT2, WOUT3)
Command option
0000h 0001h 0000h 0001h 0000h
(WIN1)
Td Td
5 Command
(WIN0) 0000h 0201h 0000h 0301h 0000h
Status
(WOUT0) 0000h 0200h 0000h 0200h 0000h
0100h 0100h
6
Command response
0000h 0001h(=1) 0001h(=1)
(WOUT1)
Command response
00000000h 00002710h(=10000)
(WOUT2, WOUT3)
Command option
0000h 0009h 0000h 0009h 0000h
(WIN1)
Td Td
Command
0000h 0400h 0000h 0500h 0000h
(WIN0)
Status
0000h 0200h 0000h 0200h 0000h
(WOUT0)
0100h 0100h
Command response
00000000h 00000064h(=100)
(WOUT2, WOUT3)
5.5.4 Query
Reads information (current position and speed, etc.) related to the operation.
1
Command Option Command
Input WIN3 WIN2 WIN1 WIN0
- - Type 0100h
NOTE
The "Data" is output as 2-word, Little Endian data. 3
■ Command type and response data
Command
Command Option Command Response
Units
4
(WIN0) Type Data
(WIN1) (WOUT2, WOUT3)
0000h Current position 0.01mm
0001h Current speed 0.01mm/s
0002h Electrical current % 5
0100h 0009h Voltage 0.1V
000Ah Temperature ℃
000Dh Current point No. -
000Eh Load rate %
6
7 Because an EEPROM is used as the ROM, the number of writing operations is limited.
CAUTION Users should therefore refrain from writing unnecessary data to the ROM.
Data which has been written to the RAM is not saved to memory, and the original data is
restored when a restart occurs. To save the RAM data to memory, the "operation type" must
NOTE
be written after writing each data item.
For point data details, see Chapter 3, section 3.2 "Point data".
TIP
NOTE
The "Data" is output as 2-word, Little Endian data. 3
■ Commands and data
Command
Command Option Command Response Unit 4
(WIN0) Point No. Data
Standard Setting Custom Setting
(WIN1) (WOUT2, WOUT3)
0300h Operation type -
0301h Position 0.01mm
0302h Speed % 0.01mm/s 5
0303h Acceleration % 0.01m/s2
0304h 1(0001h) Deceleration %
0305h to Push force %
0306h 255(00FFh) Zone (-) 0.01mm
0307h Zone (+) 0.01mm 6
0308h Near width 0.01mm
0309h Jump -
030Ah Flag -
030Ch Timer ms
7
For point data details, see Chapter 3, section 3.2 "Point data".
TIP
Command Option
Command
Parameter No. Data Unit
(WIN0)
(WIN1) (WIN2, WIN3)
4 0009h Speed override (K9) %
0400h 000Ah JOG speed (K10) %
000Bh Inching width (K11) 0.01mm
5 As the parameter data is written into the EEPROM, there is a limit to the number of
CAUTION data writing cycles. So, it is necessary to avoid writing parameter data unnecessarily.
For parameter data details, see Chapter 3, section 3.4 "Parameter data".
6 TIP
TIP
For parameter data details, see Chapter 3, section 3.4 "Parameter data". 5
I/O
Communication Control
5 Type
Control
Data Change Data Transmission Monitor Operation
Input Output
PC, HT1 PC Controller Controller PC PC, HT1 PC, HT1
NRM mode
NRM mode (safety)
6 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 "safety" speed.
7
• 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 occur or communication may fail. Use only one
of these control methods in Normal mode.
• In Monitor mode, the [STOP] button on the PC software and the STOP key on the HT1
CAUTION are disabled. To stop the robot during operation by a method other than I/O control,
press the emergency stop button.
• In Debug mode, I/O control input is disabled, so the robot does not stop by interlock
input. To stop the robot during operation, use the [STOP] button on the PC software
or the STOP key on the HT1, or press the emergency stop button.
The robot normally moves a high speeds. In order to ensure safety when performing
tasks within the robot movement range, or when performing trial operations, etc., the
WARNING "safety speed" should be selected at those times. The "safety speed" is factory-set to
250mm/s prior to shipment.
Mechanical end
Movement range imposed by soft limit
Mechanical end
3
Position
Soft limit (-) (K1) Soft limit (+) (K2)
(1) Movement from a stop position within the soft limit to a target position within the
soft limit (permitted). 5
(2) Movement from a stop position within the soft limit to a target position outside
the soft limit (prohibited).
(3) Movement from a stop position outside the soft limit to a target position within
the soft limit (permitted).
6
5.7.2 Zone output function
This function outputs information which indicates whether or not the robot's current
position is within a specified zone, and it can be used to check the robot's position 7
from a host unit, or to recognize zones where movement is permitted or prohibited,
etc. The zone boundaries can be set by the K7 (Zone -) and K8 (Zone +) RUN
parameters.
Position
Zone (-) Zone (+)
(K7) (K8)
The zone output function is disabled if a return-to-origin has not yet been completed.
NOTE
■ Output examples
Point No. Output
Alarm Type No.
3 Position
POUT7 POUT6 POUT5 POUT4 POUT3 POUT2 POUT1 POUT0
82 1 0 0 0 0 0 1 0
detection error
Overload error 86 1 0 0 0 0 1 1 0
Main power
C2 1 1 0 0 0 0 1 0
outage
4 1 : ON 0 : OFF
6 Item Setting
Flag bit0 = 0 Payload 1 (K76) applies
Description
Payload select
Flag bit0 = 1 Payload 2 (K78) applies
■ Setting examples
7 No.
P1
RUN type
ABS
Position [mm]
200.00
Speed [%]
100
Accel. [%]
100
Decel. [%]
100
Flag
1
P2 ABS 500.00 100 100 100 0
Payload 1: 30kg (Max. payload accel. 1: 1.60m/s2)
Payload 2: 3kg (Max. payload accel. 2: 4.00m/s2)
Speed
In the "Custom setting" mode, the max. payload acceleration "trip" setting is adopted.
TIP
PWR Blue
Blinking
(at 0.5sec intervals)
Servo OFF 2
ON (constant ON) Servo ON
Control power shutoff or no active error alarms
OFF
(normal)
ERR Red Blinking
(at 0.5sec intervals)
Error alarm active (external cause)
3
ON (constant ON) Error alarm active (internal cause)
Screen Contents
2 INFORMATION
screen
Displays the controller, robot model name, or point type you are using.
Displays the internal status of the servo and other devices, run mode, or
MAIN screen current position. Additionally, if an alarm occurs, this screen also displays
the alarm number and alarm name.
Displays the status of the input/output signal exchanged with the host
3 I/O screen
controller.
Displays the internal status of the servo, emergency stop, or origin
STATUS screen
sensor.
RUN screen Displays the operation information, such as current position or speed.
CHECK screen Displays the internal voltage or internal temperature of the controller.
4
5.8.1 Opening or closing the TS-Monitor
When replacing the absolute battery, it is necessary to open or close the TS-Monitor
5 in the vertical direction.
You can open or close the TS-Monitor regardless of the controller power on/off status.
• When opening or closing the TS-Monitor with the controller power turned on, make
sure that the controller is not hot. If you touch a hot part, this might result in a burn
6 WARNING
injury.
• When opening or closing the TS-Monitor with the controller power turned on, do not
touch any connector. Doing so might cause an electric shock.
Startup screen
2
Transits after a certain
period of time has elapsed.
INFORMATION
button
CHECK screen
3
screen button
button
(or transits after a
certain period of
time has elapsed.)
button button button
4
Transits to
MAIN screen the MAIN Alarm occurs. RUN screen
screen.
5
button button button button
I/O screen
button
STATUS screen
6
button
The TS-Monitor always monitors the alarm. If the TS-Monitor detects an alarm,
the screen will change to the MAIN screen. At this time, if an alarm has already 7
occurred, the screen does not change to the MAIN screen.
* The alarm described herein is the error alarm and warning alarm.
Additionally, if an error alarm occurs, the screen color will change. For details, see
section "5.8.4 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
1 section "5.8.5 SETUP screen".
When the SETUP screen is displayed, press the ▼ button while holding down the ▲
button. The screen will then return to the normal startup screen.
3 button
Startup screen
4 button
Press the and buttons
at the same time
Subsequently, transits to
SETUP screen
5 normal screen operation.
Press the and buttons button button Press the and buttons
at the same time at the same time
Startup screen
TS-MONITOR
VER. 1.00 Software version
Booting up...
■ INFORMATION screen
"INFORMATION" is displayed in the page name area at the uppermost portion on
the INFORMATION screen. 1
INFORMATION screen
INFORMATION 2
CONT :TS-X-10A Controller name
MAIN-TS-MONITOR
Desired character string specified by the user.
This character string is set with the TS-Manager. 6
S O (Up to 10 characters)
E L Simple status display
: ON, : OFF
P A
MAIN-TS-MONITOR
S O
E L Error or warning alarm number
If no alarm occurs, "00" is displayed.
P A
ENCODER ERROR Alarm name
DBG S POS: 0.000 mm
Run mode
Display Meaning
■ I/O screen
"I/O" is displayed in the page name area at the uppermost portion on the I/O
6 screen.
I/O screen
7 I/O ON OFF
■ STATUS screen
"STATUS" is displayed in the page name area at the uppermost portion on the
STATUS screen. 1
STATUS screen
STATUS ON OFF
2
SRV-S E-STOP
ORGSEN P-BLK
Status display
TLM-S ORG-S : ON, : OFF
MOVE WARN 3
Status display
Display Meaning Description
Return-to-origin
Displays the return-to-origin completion status. 6
ORG-S ON: Return-to-origin complete status,
completion status
OFF: Return-to-origin incomplete status
Displays the warning alarm occurrence status.
WARN Warning output
ON: Warning is occurring., OFF: No warning occurs.
7
■ RUN screen
"RUN" is displayed in the page name area at the uppermost portion on the RUN
screen.
RUN screen
Run type
RUN
POS 500.000 mm Robot current position
ABS MERGE ▶P123 Run point
SPD 600.00 mm/s Robot operation speed
Displays the graph of the current speed assuming
LOAD 69 % that the maximum speed is 100%
Load rate
Displays the numeric value and graph of the load rate.
Run type
Display Meaning
1 HOLD Servo is off or robot is stopping.
ABS ABS
INC INC
ABS MERGE ABS merge operation
INC MERGE INC merge operation
2 ABS PUSH ABS push operation
INC PUSH INC push operation
ABS->PUSH ABS deceleration push operation
INC->PUSH INC deceleration push operation
3 ORG Return-to-origin
■ CHECK screen
"CHECK" is displayed in the page name area at the uppermost portion on the
CHECK screen.
4
CHECK screen
CHECK
5 VOLT: 270.0 V Internal voltage of controller
DIST: 15.827 km
6 Total movement distance of robot
■ SETUP screen
"SETUP" is displayed in the page name area at the uppermost portion on the
7 SETUP screen.
SETUP screen
SETUP
LCD SETUP
COM SETUP
3
5.8.5 SETUP screen
You can set the LCD contrast and backlight on time on the SETUP screen.
To set these items, follow the steps below.
2 When the SETUP screen is displayed, press the ▲ button to move the
cursor to "LCD SETUP", and then press the ▼ button. 5
The LCD SETUP screen will appear and displays the set contents of the LCD.
7
Do not change the set contents of the "COM SETUP" (communication setup). Doing
CAUTION so might cause the TS-Monitor to display incorrectly.
3 Press the ▲ button to move the cursor to a desired item you want to
change, and then press the ▼ button.
After that, you can change the item you have selected.
3
The backlight on time setting to be set in this step is used when the screen is lit in blue
(servo is on and no error alarm occurs).
NOTE In other status, the backlight is lit or blinks regardless of the backlight setting time.
Contents 2
7
1
7
6.1 Alarm groups
6 88
89
LOW VOLTAGE
POSITION ERROR
Reset
Reset
-
03
DATA RANGE
OVER
Data setting
range exceeded.
Written data exceeded the
specified range.
Write data within
the specified range.
2
Operation or Operation or data edit Change the "Run"
MONITOR edit command was executed while "Run" mode to Normal
04
MODE was executed in mode was in Monitor mode or Debug
Monitor mode. mode. mode.
Operation
Another operation
Stop the 3
command was operation and
05 RUNNING was attempted during
executed during then re-execute
operation.
operation. the command.
Operation Exit the Manual
06
MANUAL
MODE
command was
executed during
Positioning was attempted
during Manual mode.
mode and re-
execute the 4
Manual mode. command.
■ Operation alarms
No. Message Meaning Possible Cause Action
Operation was attempted 5
while the servo was off. Turn the servo
41 SERVO OFF Servo is off.
Servo turned off during on.
operation.
Positioning operation was
42
ORIGIN
Origin search
(return-to-origin)
attempted while origin
search was incomplete Perform an origin 6
INCOMPLETE Origin search direction (K14) or search.
is incomplete.
Axis polarity (K15) was changed.
Parameter was transferred from PC.
Register the point
3 INT. COMM.
Communication
error occurred CPU peripheral circuits
Cancel the alarm.
If the alarm
91 occurs again,
ERROR between CPU failed.
replace the
and I/O module.
controller.
Cancel the alarm.
If the alarm
4 92 CPU ERROR
CPU stopped
due to error.
CPU failed. occurs again,
replace the
controller.
Turn the 24V
24 V power supply is
power supply
turned off by NPN/PNP.
back on.
5 Cancel the alarm
(in the case of
I/O module NPN/PNP, after
93 I/O FAULT stopped due to turning the 24V
error. power supply
I/O module failed.
back on).
6 If the alarm
occurs again,
replace the
controller.
■ Warning alarms
No. Message Meaning Possible Cause Action
Absolute battery 1
ABS. BATTERY voltage dropped Absolute battery has worn Replace the
F1
LOW below the warning out or failed. absolute battery.
level (3.1V).
Correct the
Push operation was
F2
PUSH
WARNING
Failed to push a
workpiece.
judged as a "failed to
push" error.
problem to
cancel the "failed 2
to push" error.
24V was not correctly
Supply 24 V
I/O module is supplied to NPN or PNP
power correctly.
F4 I/O ERROR not operating circuits.
correctly. I/O module was not
operating correctly.
Replace the
controller.
3
Contents 2
7
1
7
7.1 TS-X specifications
Input
Servo ON (SERVO), reset (RESET), start (START), interlock (/LOCK),
origin search (ORG), manual mode (MANUAL), jog motion - (JOG-), jog
6
motion +(JOG+), point number selection (PIN0 to PIN7)
Servo status (SRV-S), alarm (/ALM), operation end (END), operation in
Output progress (BUSY),control output (OUT0 - OUT3), point number output 0
to 7 (POUT0 - POUT7)
Communication RS-232C, 1 channel 7
Power for brake 24V DC ±10%, 300mA (prepared by user)
Emergency stop inputs (2 contact points), main power input ready
Safety circuit
output
Protection Position detection error. Power module error, overheat, overload,
function overvoltage, low voltage, position deviation
Ambient
operating
0 to 40˚C, 35 to 85% RH (no condensation)
temperature and
humidity
Storage ambient
temperature and -10 to 65˚C, 10 to 85% RH (no condensation)
humidity
Indoor, not exposed to direct sunlight. No corrosive gas, inflammable
Atmosphere
gas, oil mist, and dust particles should be present.
Vibration 10 to 57Hz in each of XYZ directions, single amplitude 0.075mm, 57 to
resistance 150Hz, 9.8m/s2
Protective structure IP20
3
167
162
152
4 R
5
5.4
EXT connector
(8)
5 (Units : mm)
TS-X (220)
6 4
70
7 58 (90) 131 53 φ5.4
167
162
152
R
5
5.4
(8)
EXT connector
(Units : mm)
7.2.2 PNP 2
Input 16 points, 24V DC ± 10%, 5.5mA per point, negative common
Output 16 points, 24V DC ± 10%, 50mA per point, total 0.4A or less per 8 points, source type
7.2.3 CC-Link
■ CC-Link specifications
3
Item Description
CC-Link support version Ver. 1.10
Remote station type Remote station device
Station used 1 4
Station No. setting 1 to 64
Communication speed setting 10M / 5M / 2.5M / 625K / 156Kbps
Minimum length between station 0.2m or more
Overall distance
100m (10Mbps) / 160m (5Mbps) / 400m (2.5Mbps) /
900m (625Kbps) / 1200m (156Kbps) 5
Monitor LED L RUN, L ERR., SD, RD
■ LED indicators
L RUN L ERR. SD RD Operation
Communication is normal, but CRC errors occasionally
occur due to noise.
6
Either the "baud rate" or "node No." setting was changed from
0.4s 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) 7
Normal communication
- (Implausible operation status)
Data destined for local station did not arrive.
- (Implausible operation status)
Polling response is occurring, but CRC error occurred at
the refresh reception.
- (Implausible operation status)
CRC error in data destined for local station.
- (Implausible operation status)
- (Implausible operation status)
- (Implausible operation status)
There is no data destined for the local station, but local
station reception is disabled due to noise.
Data reception is disabled due to severed/disconnected
line. Power is off or hardware is being installed.
, Incorrect "baud rate" or "node No." setting.
: ON : OFF : Blinking
7.2.4 DeviceNet
1 ■ DeviceNet specifications
Item Description
Compatible DeviceNet Volume1 Release2.0
Specs. Volume2 Release2.0
2 Vendor name
Device type
Yamaha Motor Co.,Ltd.( ID=636 )
Generic Device (Device No.0)
Product code 11
Product revision 1.1
■ LED indicators
Type Indication Status Description
5
58 (83.5) 137.5 53 φ5.4
6
167
162
152
7
R
5
(Units : mm)
70
2 58 (83.5) 137.5 53 φ5.4
3
167
162
152
4 R
5
EXT connector 5.4
(8)
5 (Units : mm)
Contents 2
Introduction H-1
3
1. What the HT1 does H-2
1.1 HT1 panel layout H-3
1.2 Connecting to the external safety circuit (HT1-D) H-5
4
2. Connecting or disconnecting the HT1 H-7
2.1 Connecting to the controller H-7
2.2 Disconnecting from the controller H-9
5
3. Basic operations H-10
3.1 Operation key layout and functions H-10
3.2 Screen configuration H-11
3.3 Starting to use the keys H-13 6
3.4 How to enter numbers H-17
3.5 Menu structure H-18
5
8. Other functions H-45
8.1 Operation mode H-45
8.2 Setting mode H-46
9. Specifications H-47
9.1 Basic specifications H-47
9
Introduction
Introduction
This "HT1 Operation Guide" explains how to use the HT1 and HT1-D (with ENABLE 1
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.
2
5 Option parameters
Set parameters for options such as
CC-Link.
5.3
• Strap holder
Attaching a short strap or
2
necklace strap here prevents
• Emergency stop button
dropping the HT1 while operating
Pressing this button during
it or installing it onto equipment.
operation immediately stops
robot movement. To release
• LCD screen
this button, turn it clockwise.
Releasing this button also
3
This is a liquid crystal display cancels emergency stop.
(LCD) screen with 32 characters
× 10 lines (pixel display),
showing the operation menus
and various types of information.
4
• Data edit keys CLR FUNC
Use these keys to select
menus and edit various data.
(Refer to section 3, "Basic
operations" for more details.) 5
RUN STOP
• Run/stop keys
Use these keys to operate the
robot for teaching or positioning,
or to stop operation. The
# keys are also provided to
and 6
• Connection cable move the robot in jog mode.
This cable connects to the controller. (Refer to section 3, "Basic
One end of this cable is terminated operations" for more details.)
with an 8-pin MD connector (male).
Plug this cable into the COM1
connector on the controller front panel. 7
· Do not push or strike the LCD screen surface with a pointed tool or hard object. This
might scratch or damage the LCD screen.
· The fluid (liquid crystal) in the LCD display is a hazardous substance. If this fluid
8
leaks from the display due to damage and adheres to skin or clothes, wash it off
immediately with soap and water. Then consult a physician.
WARNING · Do not wind the connection cable around the HT1 body when storing, and do not
bend it sharply. Doing so might break the wires in the connection cable. 9
· Do not use an extension cord with the connection cable.
· Never disassemble or modify any part of the HT1. Doing so will cause failures or
malfunctions.
3
• ENABLE switch (HT1-D only)
This switch is used along with
an external safety circuit. This
switch turns off (opens) the
4 circuit when pressed or
released. Pressing this switch to
mid-position enables the circuit.
5
• 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,
6 "Connecting to the external safety
circuit (HT1-D)" for more details.
3
3 3
4 4 ENABLE switch
5 5 (deadman switch)
6 6
7 7
8 8
Controller
9 9
6 6
5
COM1
connector
HT1-D
EXT connector
I/O connector HT1-D cable
2 ・
・
・
・
Attaching this connector directly to the safety connector
on the HT1-D enables the emergency stop button only.
・
・
・
14
15
5 Set so the voltage and current ratings on the circuit connected to pins 1 to 8 on the
supplied 15-pin D-sub connector are no higher than 30V DC and 1A.
Pins 1 and 14, and pins 2 and 15 on the supplied 15-pin D-sub connector are shorted
prior to shipment. When connecting the HT1-D contacts to the external emergency
stop circuit, change the wiring as shown in the above diagram to short pins 14 and 15
6 CAUTION together.
Never attempt to extend the shorting wire between pins 14 and 15. Doing so might
cause noise in the wiring that interferes with HT1-D or controller operation and
causes faulty operation. This wiring should be kept short.
· Do not modify the HT1 cable. Modified cables might cause communication errors or
malfunctions.
· When connecting the HT1 to the controller or disconnecting it from the controller, 2
always grip it by the connector body itself.
CAUTION · A poor connection or inserting the connector the wrong way can result in failure or
malfunctions. Be sure that the cable is securely connected.
· When unplugging the connector from the controller, pull it straight out so as not to
bend the connector pins. 3
1 Connect the HT1 cable to the COM1 connector on the controller front
4
panel.
Connection
5
Communication connector (COM1) HT1
7
N
L1 200V
N1 ROB
I/O
CHARGE
MOTOR
RGEN
I/O
Controller
Grip the connector body and insert it into the COM1. 9
2
PWR
ERR
L1
COM1
200V
3
N1 ROB
I/O
CHARGE
MOTOR
RGEN
I/O
Disconnecting the HT1 while the controller power is on, will trigger emergency stop 5
CAUTION and the robot servo will turn off.
7
PWR
ERR
L
COM1
8
L1 200V
N1 ROB
I/O
CHARGE
MOTOR
I/O
9
RGEN
Dummy connector
Controller
When not using the HT1, always attach the dummy connector to the COM1. Operating
without the dummy connector attached will trigger emergency stop and operation
CAUTION cannot be performed.
3. Basic operations
1 The HT1 operation keys are only a minimum number of necessary keys, so HT1
operating procedures can easily be mastered even by first-time users.
The HT1 operation keys are divided into two groups: data edit keys and run/stop
keys.
4 CLR FUNC
RUN STOP
Run/stop keys
5
Data edit keys
Keys Use the key to:
CLR Return to the preceding menu or screen.
6 FUNC Display the "Function" menu window for the item being selected.
Scroll up or down the screen or increment/decrement numbers.
Move the cursor to a desired digit to enter a numerical value or switch the
page in the menu area.
The HT1 has no number keys. Use and to enter (increment or decrement)
NOTE numbers. (Refer to section 3.4, "How to enter numbers".)
8 Run/stop keys
Keys Use the key to:
Start moving the robot to perform origin search (return-to-origin) or positioning.
RUN Obtain the current position and store it in specified point data. (teaching)
Turn the servo on or off.
9 STOP
Stop moving the robot during operation such as origin search or positioning.
Press RUN to resume operation.
Move the robot in the - (minus) direction during teaching. The robot moves as
long as this key is pressed. Pressing this key once moves the robot in inching
mode (initial setting: 1.00mm).
Move the robot in the + (plus) direction during teaching. The robot moves as
long as this key is pressed. Pressing this key once moves the robot in inching
mode (initial setting: 1.00mm).
In the screen display shown below, a point number and point data are displayed
in the menu area.
In this example, the comment area shows the operation keys that can be used and
2 the current robot position.
Screen display example ("Point teaching" screen)
Point teaching S=100% NRM [01] Status area
P 1
3 1. Run type
2. Position
3. Speed
ABS -
100.00 mm
100 % Menu area
4. Accel. 100 %
5. Decel. 100 %
6. Push 100 %
RUN:Teaching, -/+:JOG
Current pos. 128.00 mm Comment area
4
• "Run mode" display
The currently selected "Run mode" is displayed as an abbreviation on the right of
the status area. The meaning of each abbreviation is described below.
6 4. Accel.
5. Decel.
6. Push
100 %
100 %
100 %
RUN:Teaching, -/+:JOG
Current pos. 128.00 mm
"Run mode" can be changed from the HT1. Refer to section 8.1, "Operation mode" for more
TIP details.
Before editing data, always make sure that the robot is stopped. Editing data while
CAUTION the robot is moving may cause problems with the operation.
2
• Editing point data
1 On the main menu screen, move the cursor to "Point" and press .
The "Point" menu screen appears as shown below. (To return to the main menu 3
screen, press CLR .)
5
2 Move the cursor to "Point edit" and press .
The "Point edit" screen opens showing a point number and point data.
The cursor is placed in the point number row where "P1" is selected when this 6
screen first opens.
In this state, pressing displays the second page of point data in the menu area.
Pressing returns to the previous page.
Page 1 Page 2
9
5 3. Speed Copy
4. Accel.
5. Decel.
Delete this
Delete all
100 %
100 %
100 %
3. Speed
4. Accel
5. Decel.
select OK? 100 %
Yes
100 %
100 %
6. Push Point list 100 % 6. Push No 100 %
6 · The point number can also be selected from the point number list that appears when you select
"Point list" from the "Function" menu. (Refer to section 4.4, "Displaying a list of point data".)
TIP · For instructions on how to enter numbers such as point numbers, refer to section 3.4, "How
to enter numbers".
8 Point edit
P 2
NRM [01]
Point number row
1. Run type ABS - Cursor moves to the data item area
2. Position 100.00 mm ("1. Run type").
3. Speed 100 %
4. Accel. 100 %
5. Decel. 100 %
9 6. Push 100 %
When the "Point table type" parameter was set to "Standard setting" by initial processing using
the support software "TS-Manager", then "Speed" and "Accel." are displayed in percent (%).
TIP When the "Point table type" parameter was set to "Custom setting", then "Speed" and
2
"Accel." are displayed in SI unit systems (mm/s and m/s ).
5 Use to move the cursor up or down to highlight the data item you
want to edit.
When the cursor is on the bottom row of the screen, pressing scrolls to the next 1
page.
TIP
be defined.
· For detailed information on each point data item, refer to the "Controller Guide", Chapter 3,
7
section 3.2, "Point data".
the comment area. Use or to select the desired option and press .
In the direct entry method for data items like "Position", the edit cursor appears
9
•
at the rightmost digit of the numerical value. Set the numerical value by
incrementing or decrementing it with or . To enter another digit, use or
to move the cursor to that digit and press or to set the numerical value.
After entering each digit, press to enable the setting. (Refer to section 3.4,
"How to enter numbers".
2 3 . 4 6
3
2 3 . 4 4
4
(3) To move the edit cursor to other digits, press or . (If the number contains a
decimal point, skip it.)
2 3 . 4 6 5
(4) To enter a number at a digit where no number is entered, first move the edit
cursor to that digit.
6
2 3 . 4 6
(5) Pressing or causes "0" to appear. Then press or to set the number.
7
0 2 3 . 4 6
(6) To change the plus/minus signs, press FUNC . Pressing FUNC toggles the plus (+) 8
and minus (-) signs.
- 1 2 3 . 4 6 FUNC + -
9
(7) After entering the number, press to enable the setting.
2 Menu
Point
Operation
NRM [01]
Teaching 2. Position
3. Speed
Copy
Delete this
Parameter FUNC
Monitor
Run mode 4. Accel. Delete all
Connection
Terminal
5. Decel. Point list
6. Push
3 Initial screen
7. Zone (-)
8. Zone (+)
(During reaching)
12. Timer
4
Main menu Operation Servo status FUNC (when "Operation" screen is opened)
7
Menu NRM [01]
Point
Operation Run monitor
CLR FUNC Parameter
Monitor
Run mode
Alarm
Connection
Terminal Warning FUNC (when "Alarm records" screen is opened)
RUN STOP
Message
Alarm records Delete this
8 Run mode
Information
Normal mode
CLR
FUNC Monitor mode
Menu
Point
NRM [01] * To change mode,
* Start the controller while Operation Debug mode start the controller while
Parameter
holding down FUNC . Monitor
Run mode holding down CLR .
9
Connection
Terminal
CLR FUNC
RUN STOP
Menu NRM [01]
Point
Operation
Parameter
Monitor
Run mode
Connection
Terminal
Before editing data, always make sure that the robot is stopped. Editing data while
CAUTION the robot is moving might cause problems with operation. 2
4.1 Point teaching
There are two methods for point teaching: teaching playback and direct teaching.
In either point teaching method, origin search (return-to-origin) must first be completed. (For
3
instructions on how to perform an origin search using the HT1, refer to section 6.2, "Origin
NOTE search (return-to-origin".)
The displayed data items are the same as those shown on the "Point edit" screen, but
TIP cannot be changed here.
6 2. Positi
3. Speed
4. Accel.
Speed
S = 80 %
Change OK?
100.00 mm
100 %
100 %
5. Decel. Yes 100 %
6. Push No 100 %
RUN:Teaching, -/+:JOG
Current pos. 50.00 mm
7
5 Press the jog keys to move the robot to the teaching position.
Pressing the or key moves the robot in the direction of the sign. The robot
keeps moving as long as the jog key is pressed and the message "Running… " will
Pressing the jog key once moves the robot in inching mode. (Initial setting is 1.00mm,
TIP which can be changed as needed by using the "Inching width" (K11) parameter.
9
Point teaching S=80% NRM [01]
P 1
1. Run Jog ABS -
2. Position 100.00 mm
3. Speed 100 %
4. Accel. Running… 100 %
5. Decel 100 %
6. Push 100 %
RUN:Teaching, -/+:JOG
Current pos. 100.00 mm
6 When the robot reaches the teaching position, release the jog key to
stop the robot.
The message "Running … " no longer appears when the robot is stopped. 1
7 Press RUN to teach the position.
A confirmation message then appears asking whether to teach the current position.
Press or to select "Yes" or "No", and then press . 2
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.
Point teaching S=100% NRM [01] Point teaching S=80% NRM [01]
P 1
1. Run type Teaching
2. Position
Teach
ABS -
100.00 mm
P 1
1. Run type
2. Position
ABS -
128.00 mm
3
3. Speed Current Pos.? 100 % 3. Speed 100 %
4. Accel. 100 % 4. Accel. 100 %
5. Decel. Yes 100 % 5. Decel. 100 %
6. Push No 100 % 6. Push 100 %
RUN:Teaching, -/+:JOG RUN:Teaching, -/+:JOG
Current pos. 128.00 mm Current pos. 128.00 mm
4
Current robot position is entered here.
1 Open the "Point teaching" screen and select the point number.
Follow the instructions described in steps 1 to 3 in section 4.1.1, "Teaching playback".
6 6. Push No
Teaching, -/+:JOG
Current pos.
100 %
128.00 mm
6. Push
RUN:Teaching, -/+:JOG
Current pos.
100 %
128.00 mm
4
3 Press FUNC to open the "Function" menu and select "Copy".
The "Function" menu changes to the window for specifying the copy source and destination.
The point number that is first displayed as the copy source is the point number that
was selected when the "Function" menu was opened. 5
Point edit NRM [01] Point edit NRM [01]
P 1 P 1
1. Run type Function ABS - 1. Run type Copy ABS -
2. Position 100.00 mm
Select number 2. PositionFrom P 100.00
1 mm
3. Speed Copy
4. Accel.
5. Decel.
Delete this
100 %
100 %
100 %
3. Speed
4. Accel.
5. Decel.
To
Copy OK?
P 2 100 %
100 %
100 %
6
Delete all Yes
6. Push Point list 100 % 6. Push No 100 %
NRM [01]
9
Point edit
P 1
1. Run type Copy ABS -
2. PositionFrom P 100.00
1 mm
3. Speed To P 9 100 %
4. Accel.
Copy OK? 100 %
5. Decel. Yes 100 %
6. Push No 100 %
4 3. Speed
4. Accel.
5. Decel.
100
100
100
%
%
%
6. Push 100 %
9 5 If it is okay to delete the data, move the cursor to "Yes" and press .
The data of the selected point number is then deleted.
If you selected "Delete all", all point data will be deleted.
The display then returns to the screen that was displayed before the "Function"
menu opened.
4
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 5
switches the page.
9
While a point number is selected, pressing enters the data edit screen for the
selected point number.
5. Parameter setting
1 The HT1 allows you to set parameters needed for robot operation.
For detailed information and the setting range of each parameter, refer to the
"Controller Guide", Chapter 3, section 3.4, "Parameter data".
Before editing data, always make sure that the robot is stopped. Editing data while
2 CAUTION the robot is moving might cause problems with operation.
Power must be turned off and then back on to enable changes made to Run parameters.
NOTE
9
Push time 10 ms Push time 10 ms
Push speed 10.00 mm/s Push speed 10.00 mm/s
Zone(-) 0.00 mm Zone(-) 0.00 mm
Power must be turned off and then back on to enable changes made to I/O parameters.
NOTE
4 Parameter
Run parameter
I/O parameter
NRM [01] I/O parameter
OUTO select
OUT1 select
ZONE
NEAR
[01]
-
-
Option parameter OUT2 select TLM-S -
Servo parameter OUT3 select ORG-S -
POUT select AFTER -
Alarm No.output INVALID -
SERVO seguence EDGE -
5
3 Move the cursor to the parameter you want to change and press .
The selected parameter can now be changed.
6
I/O parameter [01] I/O parameter [01]
OUTO select ZONE - OUTO select ZONE -
OUT1 select NEAR - OUT1 select NEAR -
OUT2 select TLM-S - OUT2 select TLM-S -
OUT3 select ORG-S - OUT3 select ORG-S -
7 POUT select
Alarm No.output
SERVO seguence
AFTER
INVALID
EDGE
-
-
-
POUT select
SERVO seguence
AFTER
Alarm No.output INVALID
EDGE
-
-
-
NONE
PZONE
9 5 Press CLR .
This returns to the "Parameter" menu screen.
4
I/O parameter Node 1 -
Option parameter Speed 10M bps
Servo parameter
5
3 Move the cursor to "CC-Link" and press .
The CC-Link settings can now be changed.
VALID
INVALID 7
4 Change the parameter.
Selectable options are displayed in the comment area. Use or to select
"Valid" and press . 8
Change the node number and speed as needed.
5 Press CLR .
This returns to the "Parameter" menu screen.
9
3 I/O parameter
Option parameter
Servo parameter
Max. accel. 1
Payload 2
Max. accel. 2
3.50 m/s2
10 Kg
3.50 m/s2
Stop mode CLOSED –
Stop mode time 200 ms
Stop current 30 %
4
The "Max. accel." parameter is enabled only when the HT1 was started while holding down CLR .
NOTE
7
4 Change the parameter value.
For instructions on how to change numerical values, refer to section 3.4, "How to
enter numbers".
6 Press CLR .
9 This returns to the "Parameter" menu screen.
5
3 Press RUN to turn the servo on or off.
The servo turns on and off each time you press RUN .
Running…
7
RUN:Origin search start
Current pos. 128.00 mm
OK
Ref. = 50 %
The machine reference must be adjusted if it is outside an allowable range of 25% to 75%
(allowable range may differ depending on the robot type, so refer to the robot user's
manual). 1
NOTE
For information on how to adjust the machine reference, contact our sales office or
representative.
5 Press CLR .
This returns to the "Origin Search" screen. Pressing CLR once more returns to the
2
"Operation" menu screen.
The displayed data items are the same as those shown on the "Point edit" screen, but cannot
TIP be edited here.
Run
P 1
S=80% NRM [01] 7
1. Run type Run ABS -
2. Position 100.00 mm
3. Speed 100 %
4. Accel. Running… 100 %
5. Decel. 100 %
6. Push
RUN:positioning start
100 %
8
Current pos. 180.00 mm
1 On the "Operation" menu screen, move the cursor to "Reset" and press .
The "Reset" screen opens showing a description of that alarm.
2 Operation NRM [01] Reset [01]
Servo status Alarm:85 OVER LOAD
Origin search
Run
Reset
3
RUN:Execute Reset
Current pos. 128.00 mm Current pos. 128.00 mm
5 Reset
Alarm:85 OVER LOAD
[01]
Reset
OK
6 RUN:Execute Reset
Current pos. 128.00 mm
4 Press CLR .
7 This returns to the "Operation" menu screen.
Some alarms cannot be reset here. (Refer to the "Controller Guide", Chapter 6,
section 6.4, "Alarms: Possible causes and actions".) In such cases, shut down the
CAUTION control power supply and then restart the controller.
8
The robot stops if an overload occurs. If this happens, avoid restarting the robot
operation shortly after the overload. Doing so might cause the motor malfunctions.
WARNING The system should be designed so that robot operation resumes at least 5 minutes
7. Monitor functions
The HT1 has the following monitor functions that display various types of information
for checking operation and status.
1
Monitor Function Description
I/O monitor Displays the status of I/O signals exchanged with the host device.
Status monitor Displays the status of servo, brake, emergency stop, etc. 2
Run monitor Displays the current position, speed, run type, etc. during operation.
Message * Displays 1 cause (alarm) of the operation stop that occurred most recently.
3
Alarm records Displays past alarms and their descriptions.
Information Displays the model name and specs of the controller and robot being used.
* This function was added from Ver. 1.06.
4
7.1 I/O monitor
1 On the main menu screen, select "Monitor".
The "Monitor" menu screen opens showing selectable menu items. 5
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.
Page 1 6
Monitor NRM [01] I/O monitor NRM [01]
I/O monitor IN OUT ■:ON
Status monitor PIN0:□ JOG-:□ POUT0:□ OUT0:□
Run monitor PIN1:□ JOG+:□ POUT1:□ OUT1:□
Alarm PIN2:□ MANU:□ POUT2:□ OUT2:□
Warning
Message
PIN3:□ ORG:□
PIN4:□ /LOCK:■
POUT3:□ OUT3:□
POUT4:□ BUSY:□
7
Alarm records PIN5:□ START:□ POUT5:□ END:■
PIN6:□ RESET:□ POUT6:□ /ALM:■
PIN7:□ SERVO:■ POUT7:□ SRV-S:■
3 Press CLR .
This returns to the "Monitor" menu screen.
6 3 Press CLR .
This returns to the "Monitor" menu screen.
Page 2
Run monitor NRM [01]
Total Time 12:15:34 d:h:m
8
3 Press CLR .
This returns to the "Monitor" menu screen.
4
07:
08:
For details on alarms and corrective actions, refer to the "Controller Guide", Chapter 6,
TIP section 6.4, "Alarms: Possible causes and actions".)
5
3 Press CLR .
This returns to the "Monitor" menu screen.
3
Status monitor 01: 43 NO POINT DATA
Run monitor 02:
Alarm 03:
Warning 04:
Message 05:
Alarm records 06:
07:
08:
4
For details on messages and corrective actions, refer to the "Controller Guide", Chapter 6,
TIP section 6.4, "Alarms: Possible causes and actions".)
5 3 Press CLR .
This returns to the "Monitor" menu screen.
3
Monitor NRM [01] Alarm records NRM [01]
I/O monitor No. factor
Status monitor 01: 86 OVERHEAT
Run monitor 02: 85 OVERVOLTAGE
Alarm 03: 88 LOW VOLTAGE
Warning 04: 85 OVERVOLTAGE
Message 05: 89 POSITION ERROR
Alarm records 06: 82 ENCODER ERROR
07: 86 OVERHEAT
08: 81 AC POWER DOWN 4
3 To view the details of an alarm, move the cursor to it and 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 5
first page.
7
Voltage 280.0 V
The alarm records are important data used to analyze problems that occurred in this
8
product, so do NOT delete them. Leaving the alarm records undeleted will cause no
CAUTION problems. However, if you want to delete them, use the procedure below.
Page 2
Robot F14H-20 -
Stroke 250.000 mm
Max. speed 1200.00 mm/s
Max. payload 20 kg
5
3 Press CLR .
This returns to the "Monitor" menu screen.
6
8. Other functions
8.1 Operation mode 1
When using the HT1, the operation mode can be set to any of the followings modes.
The default setting is "Normal mode".
I/O control
HT1
Run mode
operation
from host
device
Description
2
Normal mode
All HT1 operations and host device I/O
Permitted Permitted
controls can be performed.
Normal mode (safety)
To change the operation mode, turn on the power to the controller while holding down
5
the CLR on the HT1, or reinsert the HT1 cable connector into the COM1 connector on
CAUTION the controller front panel. For details on each operation mode, refer to section 5.6,
"Operation modes", in Chapter 5 of the Controller Guide.
Menu
Point
NRM [01] Run Mode
* Normal mode
NRM [01]
7
Operation Monitor mode
Parameter Debug mode
Monitor Normal mode(safety)
Run mode Monitor mode(safety)
Connection Debug mode(safety)
8
Terminal
I/O :Run OK
Term.:Edit,Run OK
On the HT1 screen, the menu item to select the operation mode is named "Run mode". The
"Run mode" is selectable only when the HT1 was started while holding down CLR .
NOTE Otherwise, all modes other than the currently selected mode are grayed out and cannot be 9
selected.
2 Move the cursor to the mode you want to set, and press .
3 Press CLR .
This returns to the main menu screen.
2 Settings
Serial port
Language English
Back light ON min.
Brightness B 31
Brightness GC 10
3 Brightness GB
Brightness W
12
0
CLR: Go to Menu
4 In Setting mode, do not change any settings other than the LCD display language
(Japanese/English).
CAUTION
After changing the setting, press CLR to enter the main menu screen and enable the change.
NOTE
5
8.2.1 Changing the display language
Settings
Serial port
7
Language English
Back light ON min.
Brightness B 31
Brightness GC 10
Brightness GB 12
Brightness W 0
Japanese
English
8
2 Use or to select the desired language (Japanese/English) and
press .
9 3 Press CLR .
This returns to the "Settings" screen.
9. Specifications
9.1 Basic specifications
1
Item Specifications
W88 H191 D45 mm
Outer dimensions
(not including emergency stop button)
Basic
HT1 : 260kg (without cable), 400g (including cable) 2
Weight HT1-D : 300kg (without cable), 440g (including
specifications
cable)
Power 12V DC, 0.25A or less (supplied from controller)
Cable length 3.5m
Interface RS-232C
Display
Dot matrix monochrome LCD (with backlight)
32 characters 10 lines
3
Operation keys Mechanical switch
External
Emergency stop
inputs/outputs Normally-closed (with lock mechanism)
button
ENABLE switch
(HT1-D only)
Safety connector
3-position switch
4
15-pin D-sub connector (male)
(HT1-D only)
Ambient operating
0 to +40˚C / 35 to 85% RH (no condensation)
Ambient Temperature/humidity
conditions Ambient storage
Temperature/humidity
Compatible
-10 to +65˚C / 10 to 85% RH (no condensation)
5
Others All TS series models
controllers
8
191
CLR FUNC
RUN STOP
9
20
45
53 (Units: mm)
9.2.2 HT1-D
1 88 63
2 191
3
CLR FUNC
RUN STOP
4 3-position
ENABLE switch
20
45
53 (Units: mm)
Safety connector
Contents 2
Introduction C-1
3
1. Communication specifications C-2
1.1 Communication parameter specifications C-2
1.2 Communication command specifications C-2
3
Introduction
Introduction
The TS series robot controller allows you to write the point data or operate the robot 1
using a communication device, such as a personal computer through the RS-232C
communication.
This "Communication 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 2
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 as controller functions and usage.
3
1. Communication specifications
1 1.1 Communication parameter specifications
The communication parameters on the mating unit, such as personal computer
must be set as follows. Refer to the relevant unit's operation manual for the setting
procedure.
■ Communication parameter specifications
2 Parameter Setting
Baudrate 38,400bps
Data bit 8 bits
Parity Odd
Stop bit 1 bit
When 'n' (node number) is omitted, commands are sent to all the daisy-chained controllers.
NOTE
Make sure to perform automatic node number setting when you first use the daisy-
chained controller or when you have replaced the controllers.
To perform the node number setting, execute "Automatic node number assignment"
CAUTION in the support software TS-Manager or send the "Automatic node number setting
(SETID)" command (communication command).
• The number of bytes, which can be output by one command response, is 255.
• " , " (comma) means the same as c/r l/f during data transmission.
■ Query commands
Command Format Command Description
1 ?M @?M<point number>[.<n>] Operation type
?P @?P<point number>[.<n>] Position
?S @?S<point number>[.<n>] Speed
?AC @?AC<point number>[.<n>] Acceleration
?DC @?DC<point number>[.<n>] Deceleration
2 ?Q @?Q<point number>[.<n>] Point
data
Push
?ZL @?ZL<point number>[.<n>] reading Zone (-)
?ZH @?ZH<point number>[.<n>] Zone (+)
?N @?N<point number>[.<n>] Near width
3 ?J
?F
@?J<point number>[.<n>]
@?F<point number>[.<n>]
Jump
Flag
?T @?T<point number>[.<n>] Timer
?K @?K<parameter number>[.<n>] 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 reading
?OPT @?OPT<option number>[.<n>] Option information reading
?OPTB @?OPTB<option bit number>[.<n>] Option information (bit) reading
?ALM @?ALM<alarm occurrence number>[.<n>] Alarm information reading
?WARN @?WARN<warning occurrence number>[.<n>] Warning information reading
n: Node number
Return-to-origin (ORG)
1 Format
Meaning
@ORG[.<node number>] c/r l/f
Performs the return-to-origin.
Function
This command has the same function as the return-to-origin (ORG) input.
Setting
2 <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
3 Transmission Response
@ORG.1 c/r l/f Return-to-origin operation
RUN.1 c/r l/f Starts the return-to-origin.
END.1 c/r l/f Normal end
• The JOG movement speed is set using "JOG speed (K10)" of the RUN parameter.
(See also Chapter 3, section 3.4.2 "Parameter details" of the Controller Guide.)
NOTE • The JOG 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 Response
@JOG+.1 c/r l/f JOG movement in the + direction.
RUN.1 c/r l/f Starts the JOG movement.
@STOP.1 c/r l/f Transmits the operation stop.
OK.1 c/r l/f JOG movement normal stop
• The inching width (amount) is set using "Inching width (K11)" of the RUN parameter.
2
(See also Chapter 3, section 3.4.2 "Parameter details" of the Controller Guide.)
NOTE • The inching movement using the communication command does not relate to the manual
mode status.
Setting 3
<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
@INCH-.1 c/r l/f Inching movement in the - direction.
RUN.1 c/r l/f Starts the inching movement.
END.1 c/r l/f Normal end
2 Function
This command has the same function as the servo ON (SERVO) input.
Setting
<1 or 0> : 1 Servo ON, 0 Servo OFF
<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,
3 as by daisy chain connection.)
Communication example
Transmission Response
@SRVO1.1 c/r l/f Servo ON
OK.1 c/r l/f Normal end
Reset (RESET)
Format @RESET[.<node number>] c/r l/f
Meaning Performs the reset.
Function
This command has the same function as the reset (RESET) input.
When executing this command, the following operations are performed.
(1) Resets the alarm.
(2) Clears the point number output.
(3) Clears the remaining movement amount of the relative positioning operation.
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 Response
@RESET.1 c/r l/f Reset
OK.1 c/r l/f Normal end
There is a limit to the number of data writing cycles for the memory (EEPROM). So,
when it is required to frequently write the data to the memory, use commands
CAUTION described in "point data writing 2".
The individual data of the point data related to the position or speed may include the decimal
point due to the specifications. However, when handling such data using the communication
command, all of data are handled as integer values. For example, when the position data is
NOTE -2
20.00 [mm], the communication command handles this value as "2000[10 mm]" not
including the decimal point.
For point data details, see Chapter 3, section 3.2 "Point data" of the Controller Guide.
TIP
Setting
<Point number> : 1 to 255
1 <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
2 @P1.1=30000 c/r l/f
OK.1 c/r l/f
Writes "30000" to "Position" of point data 1.
Normal end
@S1.1=50 c/r l/f Writes "50" to "Speed" of point data 1.
OK.1 c/r l/f Normal end
@AC1.1=100 c/r l/f Writes "100" to "Acceleration" of point data 1.
OK.1 c/r l/f Normal end
3 @DC1.1=50 c/r l/f
OK.1 c/r l/f
Writes "50" to "Deceleration" of point data 1.
Normal end
@M1.1=1 c/r l/f Writes "1" (ABS) to "Operation type" of point data 1.
OK.1 c/r l/f Normal end
• Even when the setting value is written using this command, the value is not saved into the
memory. So, the value is returned to its previous value after the power has been turned
off, and then turned on again. When the setting value needs to be saved into the memory,
it is necessary to write the operation type (M) after the setting value has been written.
• The individual data of the point data related to the position or speed may include the
NOTE decimal point due to the specifications. However, when handling such data using the
communication command, all of data are handled as integer values. For example, when
the position data is 20.00 [mm], the communication command handles this value as
-2
"2000[10 mm]" not including the decimal point.
• This command is valid from version 1.04.xxx or higher.
For point data details, see Chapter 3, section 3.2 "Point data" of the Controller Guide.
TIP
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,
1
as by daisy chain connection.)
Communication example
Transmission Response
@P_1.1=30000 c/r l/f
OK.1 c/r l/f
Writes "30000" to "Position" of point data 1.
Normal end 2
@S_1.1=50 c/r l/f Writes "50" to "Speed" of point data 1.
OK.1 c/r l/f Normal end
@AC_1.1=100 c/r l/f Writes "100" to "Acceleration" of point data 1.
OK.1 c/r l/f Normal end
@DC_1.1=50 c/r l/f Writes "50" to "Deceleration" of point data 1.
OK.1 c/r l/f Normal end 3
Current position teaching (TEACH)
Format @TEACH<point number>[.<node number>] c/r l/f
Meaning Teaches the current position to the position data of specified point data.
Function
This command has the same function as the current position teaching (TEACH) input.
• The current position teaching using the communication command does not relate to the
manual mode and interlock statuses.
NOTE • 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
@TEACH2.1 c/r l/f Teaches the current position to point data 2.
OK.1 c/r l/f Normal end
When parameters need to be edited, do not edit parameters not described in this
CAUTION guide. Doing so may cause a communication failure or malfunction.
• 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
integer values. For example, when K1 ((-) software limit) is 20.00[mm], the communication
-2
NOTE command handles this value as "2000[10 mm]" not including the decimal point.
• The operation parameter, I/O parameter, and option parameter you have changed become
valid after the power has been turned off, and then turned on again.
Setting
<Parameter number> : 1 to 138
<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.)
For parameter number details, see Chapter 3, section 3.4 "Parameter data" of the Controller
TIP Guide.
Communication example
Transmission Response
@K10.1=50 c/r l/f Writes "50" to parameter data K10 (JOG speed).
OK.1 c/r l/f Normal end
Point data reading (?M, ?P, ?S, ?AC, ?DC, ?Q, ?ZL, ?ZH, ?N, ?J, ?F, ?T)
@?M<point number>[.<node number>] c/r l/f
@?P<point number>[.<node number>] c/r l/f
2 @?S<point number>[.<node number>] c/r l/f
@?AC<point number>[.<node number>] c/r l/f
@?DC<point number>[.<node number>] c/r l/f
@?Q<point number>[.<node number>] c/r l/f
Format
@?ZL<point number>[.<node number>] c/r l/f
@?ZH<point number>[.<node number>] c/r l/f
@?N<point number>[.<node number>] c/r l/f
3 @?J<point number>[.<node number>] c/r l/f
@?F<point number>[.<node number>] c/r l/f
@?T<point number>[.<node number>] c/r l/f
Meaning Reads the individual data of a specified point.
Function
Reads the individual data of a specified point.
The command may vary depending on the type of individual data. For details,
see the table below.
■ Command and data type
Unit
Command Type
Standard Setting Custom Setting
?M Operation type -
?P Position 0.01mm
?S Speed % 0.01mm/s
?AC Acceleration % 0.01m/s 2
?DC Deceleration %
?Q Push %
?ZL Zone (-) 0.01mm
?ZH Zone (+) 0.01mm
?N Near width 0.01mm
?J Jump -
?F Flag -
?T Timer ms
The individual data of the point data related to the position or speed may include the decimal
point due to the specifications. However, when handling such data using the communication
command, all of data are handled as integer values. For example, when the position data is
NOTE 20.00[mm], the communication command handles this value as“2000[10 mm]”not
-2
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
@?P1.1 c/r l/f Reads "Position" of point data 1. 1
P1.1=30000 c/r l/f Receives the data.
OK.1 c/r l/f Normal end
@?S2.1 c/r l/f Reads "Speed" of point data 2.
S2.1=100 c/r l/f Receives the data.
OK.1 Normal end 2
Parameter data reading (?K)
Format @?K<parameter number>[.<node number>] c/r l/f
Meaning Reads a specified parameter.
3
Function
Reads the setting value of a specified parameter.
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
NOTE integer values. For example, when K1 ((-) software limit) is 20.00[mm], the communication
-2
command handles this value as“2000[10 mm]”not including the decimal point.
Setting
<Parameter number> : 1 to 138
<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.)
For parameter number details, see Chapter 3, section 3.4 "Parameter data" of the Controller
TIP Guide.
Communication example
Transmission Response
@?K10.1 c/r l/f Reads parameter data K10 (JOG speed).
K10.1=50 c/r l/f Receives the data.
OK.1 c/r l/f Normal end
1 Format
Meaning
@?D<status number>[.<node number>] c/r l/f
Reads specified status information.
Function
Reads the status information, such as current position or speed.
Setting
2 <Status number> : 0 to 20 (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.)
Value Meaning
-1 Return-to-origin is being executed.
0 Stopping
1 ABS
2 INC
18 Operation status - 3 ABS merge
4 Operation INC merge
5 type ABS push
6 INC push
7 ABS deceleration push
8 INC deceleration push
Communication example
Transmission Response
@?D0.1 c/r l/f Reads the information on status number 0
(current position).
D0.1=32000 c/r l/f Receives the data.
OK.1 c/r l/f Normal end
Function
2
Reads the information on specified input/output signal.
The read-out results of the input/output information in decimal notation are returned.
Setting
<Input/output number> : 1 (See the table below.) 3
<Input/output bit number> : 0 to 15 (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
Communication example
Transmission Response
@?IN1.1 c/r l/f Reads the information on input 1 (bit 15 to 0).
IN1.1=36864 c/r l/f Receives the data. 36864 = 9000h
OK.1 c/r l/f Normal end
@?OUTB0.1 c/r l/f Reads the information on output bit 0.
OUTB0.1=1 c/r l/f Receives the data.
OK.1 c/r l/f Normal end
1 Format
Input information
@?WIN<word input number>[.<node number>]c/r l/f
Output information
@?WOUT<word output number>[.<node number>]c/r l/f
Meaning Reads specified word input/output information.
Function
2 Reads the word input/output information.
The read-out results of the word input/output information in decimal notation are
returned.
3 NOTE
The word input/output is a 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
When option number 0 is specified, all of the 32-bit information are output at once in binary
NOTE notation.
Communication example
Transmission Response
@?OPT1.1 c/r l/f Reads option information 1 (bit 15 to 0).
OPT1.1=35336 c/r l/f Receives the data. 35336 = 8A08h
OK.1 c/r l/f Normal end
@?OPTB11.1 c/r l/f Reads option information bit 11.
OPTB11.1=1 c/r l/f SRV-S = 1 (Servo ON status)
OK.1 c/r l/f Normal end
1 Format
@?ALM<alarm occurrence number>[.<node number>] c/r l/f
@?WARN<warning occurrence number>[.<node number>] c/r l/f
Meaning Reads the alarm/warning information currently occurring.
Function
Reads the alarm/warning information currently occurring.
2 For details regarding the alarm and warning numbers and their contents, see Chapter 6
TIP "Troubleshooting" of the Controller Guide.
Setting
3 <Alarm/warning occurrence number> : 1 to 32
<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.)
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
NOTE are assigned as follows.
Alarm occurrence number 1 = 86 (overload)
Alarm occurrence number 2 = C1 (emergency stop)
Communication example
Transmission Response
@?ALM1.1 c/r l/f Reads the alarm information.
ALM1.1=86 c/r l/f Receives the data. Alarm number 86: Overload
error is occurring.
OK.1 c/r l/f Normal end
@?WARN1.1 c/r l/f Reads the warning information.
OK.1 c/r l/f Normal end (No warning occurs.)
Contents 2
Introduction D-1
3
1. Installation and wiring D-2
1.1 Installation D-2
1.2 Wiring D-3
3
Introduction
Introduction
The daisy chain function of the TS series controllers enables monitoring of 1
the controller status and manipulation of various data, such as point data and
parameters, of up to 16 controllers that is connected (daisy-chained) with a
computer or Handy Terminal.
This section explains the daisy chain function used with the support software TS-
Manager.
2
For details on the basic operations of the support software TS-Manager, refer to the
TS-Manager manual and its online help.
3
CLR FUNC
RUN STOP
COM2
Communication PWR
ERR
PWR
ERR COM1
PWR
ERR
cable
L L ROB L
COM1 COM1 COM1
I/O
N N N
L1 200V
Daisy L1 200V
Daisy I/O Daisy chain cable L1 200V
• The applicable controller software version for the daisy chain function is Ver.1.05.110
or later. The controllers with the earlier version software cannot utilize this function.
Make sure to check the software version.
• The daisy chain function can be used with the HT1 with the software version 1.09
CAUTION onwards.
• The daisy chain function cannot be used concurrently with the TS-Monitor (LCD
monitor option).
For details about the installation of the controller, refer to the "Controller Guide", Chapter 2
NOTE "Installation and wiring".
1.2 Wiring
Be sure to shut off the control power to the controller before connecting the 1
WARNING controllers in a daisy chain.
For details regarding the connection of personal computer and Handy Terminal, refer to“2.5
NOTE Connecting the communication unit”in Chapter 2. 3
To connect with your personal computer, follow the steps below.
COM1 port
BAT
ABS.BATTERY
COM2
L
COM1
L1 200V
N1 ROB
I/O
CHARGE
MOTOR
I/O
RGEN
Communication cable
Controller
• Select either the USB or D-Sub connection cable for the communication cable. To
perform the communication through the USB port of a communication device, such
1 as a personal computer, use the USB communication cable. If the D-Sub
communication cable is connected to the USB port through a commercially available
USB conversion cable, the operation cannot be guaranteed.
• Do not modify the communication cable. This can cause communication errors and
equipment failure.
2 CAUTION • Always grasp the connector body when connecting/disconnecting the
communication cable at the controller. Pulling on the cable can cause equipment
failure or breaking of wire.
• An incorrectly inserted connector or poor contact condition can cause malfunctions
or equipment failure. Be sure that the connector is correctly and securely connected.
3 • When disconnecting the connector from the controller, pull the connector straight
out to avoid bending the connector pins.
2 Connect the white connector of the daisy chain cable to the COM2 port on the
controller that has been connected with the communication cable.
COM2 port
BAT
ABS.BATTERY
COM2
L
COM1
L1 200V
N1 ROB
I/O
CHARGE
MOTOR
I/O
RGEN
Controller
3 Connect the other end of the daisy chain cable (black connector) to the
COM1 port on the destination controller to be daisy-chained.
In this way, two controllers have been connected. By using the same procedure, up 1
to 16 controllers can be daisy-chained.
• The daisy chain cable is a dedicated cable for connecting controllers in a daisy
chain. So, do not use the daisy chain cable for other equipment. This may cause
equipment failure.
• Make sure each connector is facing correctly and insert it straight inwards.
• Make sure the metal parts of the connector do not come in contact with the external
power supply terminals, etc.
• Make sure there are no metallic objects such as pins or needles making connect
between the connector pins. 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.
WARNING • Do not apply strong impacts to the unit since this might cause breakdowns.
• When inserting or removing the connector grip it by the connector body. Do not pull
on the cable since this might cause wire breakage or connection defects.
• If the cable becomes worn or damaged then promptly stop using it and ask for repair
at the dealer where you purchased or contact our sales office.
• Do not place heavy items on the cable or forcefully bend or pull on the cable since
this might cause fires or breakdowns.
• Never connect to any equipment other than the specified model since this might
damage the internal IC.
• If you notice smoke or a strange odor then remove the cable, stop using the
equipment, and ask for repair at the dealer where you purchased or contact our
sales office.
3 When you connect controllers in a daisy chain, be sure to perform the automatic node
number assignment. Also be sure to do it when another controller is added after the
automatic node number assignment has been performed once.
WARNING If multiple controllers with the same node number exist on a network, data
communication may not be performed correctly. (Refer to "2.1.2 When controllers
with same node number exist on network".)
For details on the basic operations of the TS-Manager, refer to the TS-Manager manual and
NOTE its online help.
TS-Manager icon
5 The message appears stating that the automatic node number assignment
is completed.
1 The figures on the left side show the node numbers and the letters on the right
mean the controllers' model names set for each node number.
You can also click the [New Connection] button on the toolbar.
TIP
3 If there exist some computers having the same node number, the
following warning message will appear.
Warning message
1
2
4 Click the [OK] button to perform automatic node number assignment.
5 Click the [OK] button when the message appears stating that the
automatic node number assignment is completed.
3
The figures on the left side show the node numbers and the letters on the right
mean the controllers' model names set for each node number.
Controller tree
2 You can also click the [New Connection] button on the toolbar.
TIP
5 Select a controller whose data you want to display, and click the [OK]
button.
If you add a daisy-chained controller after "New Connection" has been performed,
all the controllers may not be displayed. In this case, click the [Research] button.
If controllers having the same node number are recognized when "Research" is performed,
1
the window appears asking whether to execute automatic node number assignment. In this
NOTE window, clicking the [OK] button will start the assignment. If you do not require automatic
node number assignment, click the [Cancel] button.
• If a computer and a controller have already been connected, transfer and writing of data
will be made to the currently connected controller.
2 NOTE • For details on how to write and transfer data to the controller, refer to the support software
TS-Manager manual.
The daisy chain function cannot be used concurrently with the TS-Monitor (LCD
3 monitor option). If the backup data with the LCD setting enabled is written, the
communication may not be performed properly. If there is a possibility that such data
CAUTION was written by mistake, perform automatic node number assignment again to disable
the LCD setting.
2 Select the COM port to be connected to the controller, and click the
[OK] button.
1
"Write Data to Controller" window
If controllers having the same node number are recognized when "Research" is performed,
the window appears asking whether to execute automatic node number assignment. In this
NOTE window, clicking the [OK] button will start the 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
that currently set in the controller, a confirmation message appears asking whether
1 to continue data transfer. If you want to continue data transfer, click the [Yes]
button.
3
If the confirmation message stated above appears, check whether the robot name
currently used is the same as that to be displayed as a destination.
CAUTION Please note that if they don't have the same name, clicking the [Yes] button may
affect the operation.
3
2 The "Data Transfer [PC to Controller]" window appears.
Clicking the [ ... ] button next to the "File Name" box will display the "Open" dialog box.
4 Select the file to transfer to a controller and click the [Open] button.
The selected data file is displayed in the "File Name" box.
1
5 Select the COM port to be connected to the controller, and click the
[OK] button.
When the controller to which you will transfer data is already connected, executing
2 "Transfer" - "PC to Controller..." will display the COM port in use as follows.
If you have selected "COM port (in use)" in this window, the data will be transferred
to the currently connected controller.
When you want to transfer data to a controller other than the currently connected
one, either disconnect the connection or change the node number by performing
"Switch Controller" first, and then execute data transfer again.
Please note that clicking the [Yes] button in the transfer confirmation message
CAUTION window may affect the operation.
If the controller information in the data to be transferred does not match the
controller at the transfer destination, an error message appears and the data
transfer will be canceled. Check the setting and then transfer the data again.
8 To perform data transfer, change the Run Mode to the Debug Mode.
Click the [Yes] button to perform data transfer.
3
0 Data transfer starts.
q When the message appears stating the transfer has been completed,
click the [OK] button.
The data will be usable after you have turned the control power off and back on
again. (Turning off the control power may not be necessary depending on the
parameter to be written.)
Contents
Index (Controller) 1
Index (HT1) 3
Index (Controller) DeviceNet ..............................................................7-4
Dimensional outlines ...........................................7-2
Dimensional outlines (with TS-Monitor).............7-5
A
I
Alarm
Installation and operation sequence ..................1-4
List ............................................................................6-2
Installation conditions .........................................2-2
Possible causes and actions ....................................6-3
Recording function ...................................................6-1 Installation method ..............................................2-1
Automatic node number assignment function ......... D-6 Positioning operation ..........................................5-7
Switching of controllers ......................................... D-10 R
Data overview .......................................................3-1 Remote commands ............................................5-27
Index 1
Parameter data reading ..........................................5-35
Parameter data writing ...........................................5-34
Point data reading ..................................................5-28
Point data writing ....................................................5-28
Query......................................................................5-27
Special codes .........................................................5-29
Status .....................................................................5-29
Replacing the absolute battery .........................2-13
Return-to-origin ....................................................5-4
S
Safety alert symbols and signal words ................ iii
Safety cautions ........................................................ x
Soft limit function ...............................................5-37
T
TS-Monitor ..........................................................5-40
CHECK screen .......................................................5-46
INFORMATION screen ...........................................5-43
I/O screen ...............................................................5-44
MAIN screen ...........................................................5-43
RUN screen ............................................................5-45
SETUP screen ........................................................5-46
Startup screen ........................................................5-42
STATUS screen ......................................................5-45
W
Warranty ................................................................. xv
Wiring
Connecting the robot ................................................2-7
Power supply connection .........................................2-3
Z
Zone output function .........................................5-37
2 Index
Index (HT1) Setting Option parameters .................................... H-29
Setting Run parameters ........................................ H-26
Setting Servo parameters ...................................... H-30
B
R
Basic specifications .......................................... H-47
Resetting an alarm ............................................ H-36
C
Return-to-origin ................................................. H-32
Connecting to the controller .............................. H-7
S
D
Screen configuration ........................................ H-11
Dimensional outlines ........................................ H-47
Setting mode
HT1........................................................................ H-47
Changing the display language ............................. H-46
HT1-D .................................................................... H-48
Starting to use the keys .................................... H-13
Disconnecting from the controller..................... H-9
T
E
Turning the servo on or off ............................... H-31
Editing the point data
W
Copying point data ................................................ H-23
Deleting point data ................................................ H-24 What the HT1 does .............................................. H-2
Displaying a list of point data ................................. H-25
Point teaching ........................................................ H-19
H
How to enter numbers ...................................... H-17
M
Menu structure .................................................. H-18
Monitor functions
Alarm display ......................................................... H-40
Alarm record display .............................................. H-43
Information display ................................................ H-44
I/O monitor ............................................................. H-37
Message display .................................................... H-42
Run monitor ........................................................... H-39
Status monitor ....................................................... H-38
Warning display ..................................................... H-41
O
Operating the robot ........................................... H-34
Operation key layout and functions ................ H-10
Operation mode ................................................. H-45
Origin search ..................................................... H-32
P
Panel layout ......................................................... H-3
Parameter setting
Setting IO parameters ........................................... H-28
Index 3
Revision record
User's Manual