User's Manual: Yamaha Single-Axis Robot Controller

YAMAHA SINGLE-AXIS ROBOT CONTROLLER
TS-S
User’s Manual ENGLISH
E
YAMAHA MOTOR CO., LTD.

IM Operations
882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054.Japan
URL http://www.yamaha-motor.jp/robot/index.html E112-Ver. 4.01
Introduction
Introduction
Thank you for purchasing the TS-S 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., "Point data".
Push Force, Zone (-), Zone (+), Near Width
(In-Position Zone), Jump, Flag, Timer.
Point table The "point data type" setting can be selected
Section 3.2
as "Standard setting" or "Custom setting". This
type setting "Point data".
is 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".
JOG operation Robot JOG operation and current position
Section 5.3
and current teaching can be performed from the host
"Positioning operation".
position teaching controller.
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
Section 4.3
Output function output, personal zone output, near output (in-
"I/O signal details".
position 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.
Support tools TS-Manager (PC software for Windows)
Support software for data designing,
debugging, maintenance, and management.
i
About this manual
About this manual

This manual is divided into 3 main parts: Safety Cautions, Controller Guide, and a
Supplement (HT1 Operation Guide, Communication Command Guide, Daisy Chain
Guide). In order to use the controller and optional devices in an efficient manner,
users should read the parts which are pertinent to the objective in question.
Moreover, after reading this manual, keep it on hand for easy referencing as
needed, and always make it available to the end user.
Configuration of this manual
Contains the handling cautions related to the

• Safety Cautions controller and the optional Handy Terminal. Be
sure to read these cautions before using the
equipment, and strictly observe them at all times.
Explains the controller functions, as well as the

controller installation and operation procedures.
• Controller Guide Be sure to read this section before operating the
controller, and strictly observe the instructions at
all times.
• Supplement
Explains the procedures for using the HT1

HT1 Operation Guide (Handy Terminal) to edit point data, and to
operate the robot, etc.
Be sure to read this section before writing the data,

Communication such as parameter or point data, or operating the
Command Guide robot using a communication unit, such as a personal
computer through the RS-232C communication.
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
Safety alert symbols and signal words

The following safety alert symbols and signal words are used in this manual to
describe safety concerns, handling precautions, prohibited or mandatory action and
key points when using this product. Make sure you fully understand the meaning of
each symbol and signal word and comply with the instructions.
"DANGER" indicates an imminently hazardous situation which, if not avoided, will

DANGER result in death or serious injury.
"WARNING" indicates a potentially hazardous situation which, if not avoided, could

WARNING result in death or serious injury.
"CAUTION" indicates a potentially hazardous situation which, if not avoided, could

CAUTION result in minor or moderate injury or damage to the equipment or software.
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.
■ Applicable EC Directives and their related standards

The following table lists the Directives (and related standards) which apply to the
robot's CE Marking compliance.
EC Directive Related Standards
Machinery EN ISO12100-1 : Safety of machinery - Basic concepts Part1
Directive EN ISO12100-2 : Safety of machinery - Basic concepts Part2
2006/42/EC EN ISO14121-1 : Safety of machinery - Risk assessment
EMC Directive EN 55011 : EMC Emission of ISM Equipment
2004/108/EC EN 61000-6-2 : EMC Immunity for Industrial Environments
Referred standards: EN ISO10218-1: Safety requirements - Part1:Robot
■ Cautions regarding the official language of EU countries

For YAMAHA robots that will be installed in EU countries, the language used for
the user's manuals, CE declarations, and operation screen characters is English
only, except for warning labels.
Warning labels only have pictograms or else include warning messages in
English. In the latter case, Japanese language messages might be added.
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.
• 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.
3. EMC countermeasure example

Regarding EMC directives, the customer's final product (entire system) including
the YAMAHA robot must provide the necessary countermeasures. We at YAMAHA
determine a model for single units of YAMAHA robots (controller, robot, and
peripheral device) and verify that it complies with the relevant standards of EMC
directives.
In order to ensure the customer's final product (entire system) complies with EMC
directives, the customer should take appropriate EMC countermeasures. Typical
EMC countermeasures for a single unit of YAMAHA robot are shown for your
reference.
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
Controller
AC/DC MP24V ROB I/O Single-axis robot

Power supply converter CP24V
24V 0V
(200V)
Ground
IO I/O circuit or
network
Handy Terminal with
COM1 ENABLE switch
Power connector External safety circuit
Meaning of symbols
AC/DC converter JWS100-24: made by TDK Lambda
v
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.
Always turn the main power breaker OFF and establish an

"emergency stop" status before performing tasks within
the robot's movement range.
Failing to do so could result in serious accidents or death. (See
Section 2.7, "Configuring an emergency stop circuit".)
The controller and robot were designed as general-

purpose industrial equipment, and cannot be used
for the following applications.
· In medical equipment systems which are critical to human life.
· In systems which significantly affect society and the general public.
· In environments which are subject to vibration, such as aboard
ships and vehicles.
For safety purposes, be sure to install an "emergency

stop" circuit.
Use the controller's "emergency stop" input terminal to install a main
power shutoff circuit (required).
vi
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.
Do not use in environments which are subject

to vibration and impact shocks, electromagnetic
interference, electrostatic discharges, and radio
frequency interference.
Usage in these environments could cause malfunctions and
equipment failure.
Do not use in environments which are exposed to

water, corrosive gases, metal cutting chips, dust, or
direct sunlight.
Usage in these environments could cause malfunctions and
equipment failure.
Do not use in flammable or explosive environments.

Usage in these environments could hamper operating tasks, and
could possibly cause injuries.
Provide ample space to ensure that tasks (teaching,

inspections, etc.) can be performed safely.
Failing to provide adequate space makes tasks difficult to perform,
and can cause injuries.
Secure the equipment firmly to a non-flammable

vertical wall of metal material.
The controller becomes hot during operation, and must be secured
to a metal wall in order to prevent the risk of fires.
Install in a well ventilated site with ample space

around the equipment.
Failing to do so could cause malfunctions, equipment failure, and fires.
vii
Safety cautions
• Wiring and connections
Always shut off the power to the controller before

performing wiring work and connecting cables.
Failing to do so could result in electrical shocks and equipment
failure.
When connecting cables, use care to avoid subjecting

the connectors to impact shocks or excessive loads.
Failing to do so could result in connector pin deformation, and
internal PCB damage.
Handle cables with care to avoid damaging them.

Do not attempt to modify the cables, and avoid pulling them or
placing heavy objects on them. These actions could damage the
cable, possibly resulting in malfunctions and electrical shocks.
Be sure that cable connectors and terminals are fully

inserted and securely fastened.
Tighten the fastening screws securely. Failing to do so could cause a
poor connection, possibly resulting in malfunctions.
Securely ground the power terminal block's ground

terminal.
Failing to do so could result in malfunctions or breakdowns.
• Operation and handling
The controller and the HT1 should be operated only

by personnel who have received safety and operation
training.
Operation by an untrained person is extremely hazardous.
Set the payload, acceleration, and deceleration to

appropriate values.
Payload, acceleration, and deceleration settings which differ greatly
from the actual values will result in operation time loss, shorten the
robot life, and cause vibration. Be sure to set them to appropriate
values.
Do not enter the robot's movement range while power

is supplied to the controller.
Doing so could result in a serious accident, injury, or death.
viii
Safety cautions
• Operation and handling

Do not touch the controller or robot during operation.
The controller and robot unit become hot during operation, and
touching them could result in burn injuries.
Do not remove the controller or HT1 covers, and do

not attempt to disassemble or modify them.
Doing so could result in fires or equipment failure.
Do not touch or operate the controller or HT1 with wet

hands.
Doing so could result in electrical shocks or equipment failure.
Immediately turn off the power if abnormal odors,

sounds, or smoke are noticed during operation.
Failing to do so could result in electrical shocks, fires, or equipment
failure. Stop operation immediately, and contact your YAMAHA
representative.
• Maintenance and inspection
Perform maintenance and inspection tasks only when

instructions for doing so are provided by YAMAHA.
Maintenance and inspections performed by a person who lacks the
proper knowledge or training is extremely hazardous.
Shut off the power to the controller before performing

inspections and maintenance tasks.
Shut off the power before beginning the tasks.
Failing to do so could result in electrical shocks or burn injuries.
ix
Safety cautions
CAUTION
Use the controller and robot only in the prescribed
combinations.
Unsuitable combinations could result in fires and equipment failure.
Save the controller's internal data to an external

memory device.
The controller's internal data could be unexpectedly lost, and should
therefore be backed up to an external device.
Do not use solvents such as thinner, benzene, or

alcohol, etc., to wipe (clean) the HT1 surfaces.
Doing so can cause the surface sheet and printing to peel off, and
can cause equipment failure. The HT1 surface should be gently
wiped with a soft, dry cloth.
Do not use a hard or pointed object to operate the

HT1 keys.
Doing so could scratch the keys and cause malfunctions and
equipment failure. The HT1 keys should be operated with the
fingertips.
When disposing of this product, it must be handled as

industrial waste.
Either dispose of the product in accordance with the local
regulations, or engage a commercial disposal service to handle the
disposal.
x
Warranty
Warranty
For information on the product warranty, please contact your local agent where you
purchased your product.
xi
MEMO
xii
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
Chapter 2 Installation and wiring

2.1 Installation method 2-1
2.2 Installation conditions 2-2
2.3 Wiring 2-3
2.3.1 Power supply connection 2-3
2.4 Connecting the robot 2-6

2.5 Connecting the communication unit 2-8
2.6 Connecting the I/O signals 2-11
2.7 Configuring an emergency stop circuit 2-12
2.8 Connecting the I/O unit 2-14
Chapter 3 Data setting

3.1 Data overview 3-1
3.2 Point data 3-2
3.2.1 "Standard setting" type 3-3
3.2.2 "Custom setting" type 3-4
3.3 Point data details 3-5

3.4 Parameter data 3-9
3.4.1 Parameter list 3-9
3.4.2 Parameter details 3-12
Chapter 4 I/O signal functions

4.1 I/O specifications 4-1
4.1.1 I/O specifications 1 (NPN and PNP type) 4-1
4.1.2 I/O specifications 2 (CC-Link type) 4-2
4.1.3 I/O specifications 3 (DeviceNet type) 4-4
4.2 I/O signal list 4-6
Contents 1
4.3 I/O signal details 4-7
4.3.1 Input signal details 4-7
4.3.2 Output signal details 4-9
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
5.2 Origin search (return-to-origin) 5-4

5.2.1 Origin point detection method 5-4
5.2.2 Origin point and coordinates relationship 5-5
5.2.3 Return-to-origin timing chart 5-6
5.3 Positioning operation 5-7

5.3.1 Basic operation 5-7
5.3.2 Positioning timing chart 5-11
5.3.3 Positioning merge operation 5-13
5.3.4 Push operation 5-15
5.3.5 Deceleration push operation 5-17
5.3.6 Continuous operation 5-18
5.3.7 Output function 5-19
5.3.8 Speed switch function 5-20
5.3.9 Operation examples 5-21
5.4 MANUAL mode 5-24

5.4.1 MANUAL mode timing chart 5-24
5.4.2 JOG movement 5-25
5.4.3 TEACH (Teaching) 5-26
5.5 Remote commands 5-27

5.5.1 Overview 5-27
5.5.2 Remote command list 5-27
5.5.3 Timing chart 5-30
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
5.6 Operation modes 5-36

5.7 Other functions 5-37
5.7.1 Soft limit function 5-37
5.7.2 Zone output function 5-37
5.7.3 Alarm No. output function 5-38
2 Contents
5.7.4 Changing the payload 5-38
5.7.5 Stop mode 5-39
5.7.6 LED status indicators 5-39
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-S specifications 7-1
7.1.1 Basic specifications 7-1
7.1.2 Dimensional outlines 7-2
7.2 I/O interface specifications 7-3

7.2.1 NPN 7-3
7.2.2 PNP 7-3
7.2.3 CC-Link 7-3
7.2.4 DeviceNet 7-4
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
2. Connecting or disconnecting the HT1 H-7

2.1 Connecting to the controller H-7
2.2 Disconnecting from the controller H-9
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
3.4 How to enter numbers H-17
3.5 Menu structure H-18
4. Editing the point data H-19

4.1 Point teaching H-19
4.1.1 Teaching playback H-19
4.1.2 Direct teaching H-22
4.2 Copying point data H-23
Contents 3
4.3 Deleting point data H-24
4.4 Displaying a list of point data H-25
5. Parameter setting H-26

5.1 Setting Run parameters H-26
5.2 Setting I/O parameters H-28
5.3 Setting Option parameters H-29
5.4 Setting Servo parameters H-30
6. Operating the robot H-31

6.1 Turning the servo on or off H-31
6.2 Origin search (return-to-origin) H-32
6.3 Operating the robot H-34
6.4 Resetting an alarm H-36
7. Monitor functions H-37

7.1 I/O monitor H-37
7.2 Status monitor H-38
7.3 Run monitor H-39
7.4 Alarm display H-40
7.5 Warning display H-41
7.6 Message display H-42
7.7 Alarm record display H-43
7.8 Information display H-44
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
Communication Command Guide

Introduction C-1
1. Communication specifications C-2
1.1 Communication parameter specifications C-2
1.2 Communication command specifications C-2
2. Communication command lists C-3

3. Communication command description C-5
3.1 Robot operation commands C-5
Positioning operation (START) C-5
4 Contents
Operation stop (STOP) C-5
Return-to-origin (ORG) C-6
JOG movement (JOG+, JOG-) C-6
Inching movement (INCH+, INCH-) C-7
3.2 Status change commands C-8
Servo status change (SRVO) C-8
Brake status change (BRK) C-8
Reset (RESET) C-8
3.3 Edit commands C-9
Point data writing 1 (M, P, S, AC, DC, Q, ZL, ZH, N, J, F, T) C-9
Point data writing 2 (P_, S_, AC_, DC_, Q_) C-10
Current position teaching (TEACH) C-11
Point data copying (COPY) C-11
Point data deleting (DEL) C-12
Parameter data writing (K) C-12
Automatic node number setting (SETID) C-13
3.4 Query commands C-14
Point data reading (?M, ?P, ?S, ?AC, ?DC, ?Q, ?ZL, ?ZH, ?N, ?J, ?F, ?T) C-14
Parameter data reading (?K) C-15
Status data reading (?D) C-16
Input/output information reading (?IN, ?INB, ?OUT, ?OUTB) C-17
Word input/output information reading (?WIN, ?WOUT) C-18
Option information reading (?OPT, ?OPTB) C-19
Alarm/warning information reading (?ALM, ?WARN) C-20
Daisy Chain Guide

Introduction D-1
1. Installation and wiring D-2
1.1 Installation D-2
1.2 Wiring D-3
2. Node number setting D-6

2.1 Automatic node number assignment function D-6
2.1.1 Performing automatic node number assignment D-6
2.1.2 When controllers with same node number exist on network D-8
2.2 Switching of controllers D-10
3. Writing and transferring saved and newly made data D-12

3.1 Writing data to controller D-12
3.2 Transferring data to controller D-15
Index
Index (Controller) 1
Index (HT1) 3
Contents 5
MEMO
6 Contents
Chapter 1 Overview
Contents 2
1.1 Unpacking check 1-1

3
1.2 Part names and functions 1-1
1.3 System configuration 1-3

4
1.4 Installation and operation sequence 1-4
7
1
7
1.1 Unpacking check
1.1 Unpacking check

The following accessories are shipped together with this product. 1
Controller 1 unit
Power connector 1 piece
Dummy connector 1 piece For COM1 connector

2
I/O cable 1 piece For NPN and PNP
The accessories vary according to the shipment configuration. For details, contact
YAMAHA or the sales outlet.
3
1.2 Part names and functions
Part names and functions
4
• Status indicator lamps
(PWR, ERR)
The controller status is indicated
by LED lamps. (See Section 5.7.6
"LED status indicators". 5
Controller
• Serial No.
PWR
SRV
• Communication
connector 2 (COM2)
COM2
• Communication connector 1 (COM1)
Connector for connection to a 6
communication unit, such as HT1
Not used at present (for COM1
or a personal computer.
future expansion)
• Robot I/O connector (ROB I/O)

ROB
I/O
Dedicated connector for robot I/O
signals such as position signals
7
I/O
and origin sensor signals, etc.
• I/O connector (I/O)

Connector type is selected (NPN,
PNP, CC-Link, or DeviceNet)
when purchased.
ES1
ES2
ES-
MP24V • Rating nameplate
CP24V
0V (on side face of unit body)
• Power supply connector

Connector for main power and
control power input.
Chapter 1 Overview 1-1

1.2 Part names and functions
LED names (CC-Link) ROB
1
I/O
● L RUN
I/O Green when lit.
● L ERR.
Red when lit.
2
● SD
Orange when lit.
● RD
3 Orange when lit.

ES1
ES2
ES-
MP24V
CP24V
See section "7.2.3 CC-Link" for details of LED indicator lamp meanings.
TIP
4 LED names (DeviceNet)

ROB
I/O
● MS
I/O MS
Green/Red when lit.
5
6 NS
● NS
Green/Red when lit.
ES1
ES2
ES-
MP24V
See section "7.2.4 DeviceNet"
CP24V for details of LED indicator lamp meanings.
7 TIP
1-2 Chapter 1 Overview

1.3 System configuration
1.3 System configuration

System configuration diagram
1
• HT1 or support software HT1
PWR
The HT1 and support software TS-Manager
2
SRV
COM2
(TS-Manager) and connection
cable are optional items. CLR FUNC
RUN STOP
COM1
• RS-232C control
ROB
I/O
Personal computer, etc.
3
I/O
• Single-axis robot
TRANSERVO series robot.
4
ES1
ES2
ES-
MP24V
CP24V
5
0V
• I/O control
Chuck,
Chuck, limit switch, limit switch, etc.
Controller and PLC, etc.
External control
6
(PLC, etc.)
Chapter 1 Overview 1-3

1.4 Installation and operation sequence
1.4 Installation and operation sequence

1 The basic sequence from controller installation to actual operation is shown below.
Chapter 2 ”Installation and wiring”

Installation
2 · Cable and connector wiring

and connection
· Ground connection
· Building the "emergency stop" circuit
3
Power ON
4 · Parameter setting · Payload setting

Chapter 3 "Data setting"
· Point data creation · Soft limit setting
· Machine reference Chapter 4 "I/O signal functions"

5 Origin return
check Chapter 5 "Operation"
JOG operation · Robot operation check
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?
· Check by LED status indications

No Alarm cause correction · Check the alarm No.
· Correct the alarm cause
Chapter 4 "I/O signal functions"

Operation Chapter 5 "Operation"
1-4 Chapter 1 Overview

Chapter 2 Installation and wiring
Contents 2
2.1 Installation method 2-1

3
2.2 Installation conditions 2-2
2.3 Wiring 2-3

2.3.1 Power supply connection 2-3
4
2.4 Connecting the robot 2-6
2.5 Connecting the communication unit 2-8

5
2.6 Connecting the I/O signals 2-11

6
2.7 Configuring an emergency stop circuit 2-12
2.8 Connecting the I/O unit 2-14

7
1
7
2.1 Installation method
2.1 Installation method

Use the mounting screw holes to install the controller on a vertical wall in the 1
manner shown below.
Installation
■ Installation screws 6
Use the following screw type for installation.
Mounting Area Recommended Recommended

Hole Dia.
Thickness Screw Tightening Torque
5mm 4.5 M4 0.5 N·m
7
Chapter 2 Installation and wiring 2-1

2.2 Installation conditions
2.2 Installation conditions

1 ■ Installation location
Install the controller inside the control panel.
■ Installation direction
Install the controller on a vertical wall.
2 ■ Surrounding space
Install the controller in a well ventilated location, 20mm
or more
with space on all sides of the controller (see the
figure at right).
3 ■ Ambient operating temperature and
COM2
PWR
SRV
COM1
humidity
The controller's ambient operating temperature ROB
I/O
and humidity must be maintained within the

I/O
4 following ranges. 10mm

or more
10mm
or more
· Ambient temperature : 0 to 40˚C ES1
ES2
· Ambient humidity : 35 to 85% RH

ES-
MP24V
CP24V
0V
(no condensation)
5 ■ Environments to be avoided 20mm

To ensure safe and correct controller operation, or more
avoid using the controller in the following
environments.
· Environments which contain corrosive gases
6 such as sulfuric acid or hydrochloric acid, or
where flammable gases and liquids are present
in the atmosphere.
· Environments with excessive dust.
· Environments which contain metal cutting chips,
7 oil, and water, etc., from other machinery.
· Environments subject to excessive vibration.
· Environments where electromagnetic noise or
electrostatic noise is generated.
· Environments exposed to direct sunlight.
· 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.
2-2 Chapter 2 Installation and wiring

2.3 Wiring
2.3 Wiring
2.3.1 Power supply connection 1
■ Power supply connection examples
Controller
2
ES1
ES2
AC/DC switching power supply, etc. *1
ES-
MP24V
+24V CP24V 3
0V 0V
FG FG
*1 : Main power shutoff contact. Refer to section 2.7, "Configuring an emergency stop circuit". 4
Be sure that the power supply voltage and the terminal connections are correct.
CAUTION Incorrect voltage and connections could cause an equipment failure.
5
■ Power requirements
Voltage 24VDC ± 10%
Current Max. 3A per one controller
Recommended wire size 0.5 to 0.75 sq (AWG 20 to 18) 6
・ If the current supplied to the controller is too low, alarm stop or abnormal operation
may occur. Carefully select a 24V power supply that provides an adequate current
capacity.
・ Since the controller uses a capacitor input type power supply circuit, a large inrush 7
CAUTION current flows when the power is turned on. Do not use fast-blow circuit breakers and
fuses. For the same reason, avoid turning the power off and on again repeatedly in
intervals of less than 10 seconds. This could harm the main circuit elements in the
controller.

2.3 Wiring
■ Power supply connector terminal names and functions

Signal name Description
1 ES1 Emergency stop contact 1
ES2 Emergency stop contact 2
ES- Emergency stop ready signal (open: emergency stop)
MP24V Main power supply 24V
2 CP24V
0V
Control power supply 24V
Power supply 0V
Ground terminal
Always ground the ground terminal to prevent equipment malfunctions which may be
3 CAUTION caused by noise.
■ Signal Details
• Emergency stop READY signal (ES-)
This signal is used by the external safety circuit (e.g., safety enclosure, manual
4 switch, etc.) in order to perform robot emergency stops.
Signal Name Description Type
ES- Emergency stop input (emergency stop READY signal) Input
Explanation
5 An emergency stop status is established when this signal input is switched
OFF, and a "servo OFF" status also occurs at that time.
Directly connecting a power supply (+24V) to ES- will disable external emergency
stops (including the Handy Terminal's emergency stop button), thereby creating
6 DANGER
an extremely hazardous condition. Be sure to use a combination of ES-, ES1, and
ES2 terminals in order to configure an emergency stop circuit. (Refer to section
2.7 "Configuring an emergency stop circuit".)
• Emergency stop contacts 1, 2 (ES1, ES2)

7 Description
Signal Name When using Handy Terminal without an When using Handy Terminal with an
ENABLE switch ENABLE switch
Handy Terminal's emergency stop Connected to Handy Terminal's
ES1
contact output 1 safety connector Pin No.14
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.
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.
ES1 and ES2 will be short-circuited if the accessory dummy connector is connected to
NOTE COM1.

2.3 Wiring
■ Power supply connector wiring procedure

1. Wire requirements
The usable wire size is shown below. Strip the sheath from the wire, and use in 1
that condition.
· 0.15 to 1.5 sq (AWG26 to 16) ）
2
9mm
2. Connection method
Insert the core wire into the power supply connector's hole as shown below,
then verify that the wire is locked (cannot be pulled out).
3
ES1
Insert the wire while pushing ES2
the orange part.
ES- 4
MP24V
CP24V
0V
· Unplug the power connector from the controller before wiring.

5
· Only one wire can be inserted into one wire hole of the power connector.
· When inserting the wire into the terminal, use care to prevent the core wire from
CAUTION making contact with other conductive parts.
· If the inserted portion of the wire is frayed, etc., cut off that portion and restrip the
wire, then connect the wire securely.
6

2.4 Connecting the robot

1 Connect the robot cables to the robot I/O connector on the controller's front face,
and to the motor connector.
■ Connection method
2 Connecting the robot
Controller
Robot I/O connector
PWR
3
SRV
COM2
COM1
4 ROB
I/O
I/O
5
ES1
ES2
ES-
MP24V
6
CP24V
0V
To connect the controller to the robot, use TRANSERVO series
the dedicated cable.
· Always use the dedicated cable to connect the controller to the robot.
7 · Shut the power off before connecting the cables.
· Insert the cable plug into the connector until a clicking sound is heard (fully inserted).
CAUTION · Connect only the robot which is to be used.
· Always grasp the connector body when plugging in and unplugging the cables.

■ Robot I/O connector signal table
Pin No.
1A
Signal Name
PS+
Description
Resolver SIN input (+)
1
1B PS- Resolver SIN input (-)
2A PC+ Resolver COS input (+)
2B PC- Resolver COS input (-)
3A
3B
R+
R-
Resolver
Resolver
excitation output (+)
excitation output (-)
2
4A FG
Frame ground
4B FG
5A BK+ Brake signal (+)
5B BK- Brake signal (-) 3
6A A+ Motor "phase A" output (+)
6B A- Motor "phase A" output (-)
7A ACOM Motor "phase A" common
7B BCOM Motor "phase B" common
8A B+ Motor "phase B" output (+) 4
8B B- Motor "phase B" output (+)

2.5 Connecting the communication unit

1 The controller can be operated from the HT1 (Handy Terminal) or a communication
device with the RS-232C interface, such as a personal computer.
· The HT1 is an optional item.

· Connection with a communication device, such as a personal computer requires a
2 separate communication connection cable.
■ Connecting the controller to the HT1
3 Connecting to the HT1
Communication connector 1 HT1

(COM1)
4 PWR
SRV
CLR FUNC
Press the cable's connector
straight into the COM1 connector
COM2 RUN STOP
after aligning its arrow mark with
the COM1 connector's triangular
mark (on left side, as viewed
COM1
when facing the unit).
5
ROB
I/O
I/O
ES1
7
ES2
ES-
MP24V
CP24V
0V
Grasp the connector when inserting
Controller
· 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.
· An incorrectly inserted connector or poor contact condition can cause malfunctions
CAUTION 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.
· If the HT1 is disconnected while the controller power is on, an emergency stop will
be activated and the robot servo will turn off.

■ Connecting the controller to a communication device

Make this connection by using the optional communication cable for connection
to a communication device, such as a personal computer. 1
Communication device connection
Communication connector 1 (COM1)

2
PWR
SRV
COM2
Communication cable
COM1 3
ROB
I/O
I/O
4
ES1
ES2
5
ES-
MP24V
CP24V
0V
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
7
USB conversion cable, the operation cannot be guaranteed.
· 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

■ Connecting a dummy connector

The provided dummy connector must be plugged into the COM1 connector when
1 operating the controller without connecting it to a communication unit.
COM1 dummy connector
2 PWR
SRV
COM2
COM1
3 ROB
I/O
I/O
4 Dummy connector
ES1
ES2
ES-
5 MP24V
CP24V
0V
Controller
6 An emergency stop occurs if the communication cable (or Handy Terminal cable) is
unplugged while the controller power is on, and a "servo off" status is established at
CAUTION the robot.

2.6 Connecting the I/O signals
2.6 Connecting the I/O signals

I/O signal connections to an external device such as a PLC is shown below. 1
I/O wiring diagram
Controller
I/O（NPN）24V DC
2
+COM I/O power + common
POUT0
・
・・
・ Point No. outputs
・
・
・
・
POUT7
・
・
・
・ POUT 0 to 7
3
OUT0
・・ Control outputs
・・ OUT 0 to 3
OUT3
BUSY
END
Operation-in-progress
End-of-operation
4
／ALM Alarm
Power connector SRV-S Servo status
"Emergency stop" contact 1 ES1
"Emergency stop" contact 2 ES2
"Emergency stop" READY signal ES−
PIN0
・
・
・
・
・
・
・
・
・
・
PIN 0 to 7
Point No. selection
5
Main power input MP24V ・・
PIN7
Control power input 24V DC CP24V
JOG+ JOG movement (+)
JOG− JOG movement (-)
Power supply 0V
Frame ground
0V
FG
MANUAL
ORG
MANUAL mode
Return-to-origin
6
／LOCK Interlock
START Start
RESET Reset
SERVO Servo ON
7
−COM I/O power common
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.

2.7 Configuring an emergency stop circuit

1 The power supply connector provides functions for configuring safety circuits,
including the robot. A power connector and host unit connection example is shown
below.
Emergency stop circuit example

2 Controller
COM1
3
Handy Terminal
External
External 24V "emergency stop"
4 ES1
ES2 ES
ES- Status
MP24V
5
CP24V
0V
RY Internal
FG GND
External 0V
External 0V
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.
DANGER Therefore, be sure to install an external main power shutoff circuit and an "emergency
7 stop" circuit.
Directly connecting a power supply (+24V) to ES- will disable external emergency
stops (including the Handy Terminal's emergency stop button), thereby creating
DANGER an extremely hazardous condition. Be sure to use a combination of ES-, ES1, and
ES2 terminals in order to configure an emergency stop circuit.

■ Emergency stop circuit for daisy chain connection

Controller Controller Controller
COM1 COM1 COM1
1
Handy Terminal
External 24V External 24V External 24V External 24V
ES1 ES1 ES1
ES2 ES ES2 ES ES2 ES
2
ES- status ES- status ES- status
MP24V MP24V MP24V
CP24V CP24V CP24V
0V 0V 0V
RY FG Internal RY FG Internal RY FG Internal
GND GND GND External
External 0V External 0V External 0V "emergency
stop"
External 0V External 0V External 0V
External 24V
*1
3
External 0V
In order to flexibly accommodate the various safety categories required by customers,

this controller is not equipped with an internal main power shutoff circuit.
4
DANGER Be sure to configure an external main power shutoff circuit to form an emergency
stop circuit.
Be sure to check the contact capacity of the relay contact. If the capacity is insufficient, 5
CAUTION use multiple contacts as needed. (*1 in the diagram)

2.8 Connecting the I/O unit

1 ■ Parallel I/O (NPN type and PNP type)
Connecting a parallel I/O

Controller
2
PWR
SRV
COM2
I/O connector
COM1
ROB
I/O
3 I/O
ES1
4
ES2
ES-
MP24V
CP24V
0V
• Use care to avoid incorrect terminal connections and short-circuits between

terminals when performing the wiring work. Incorrect wiring could damage the
5 controller. Carefully verify the terminal arrangement, using care to avoid short-
circuits between terminals.
CAUTION • The color of the cables for I/O power input (+COM) and point number outputs 0 and
1 (POUT0 and POUT1) is identical. Make the wiring, being careful not to confuse
their connections. Wrong wiring may damage the controller.
6 Item Color
Signal Terminal
Name No.
Terminal Signal
No. Name
Color Content
Brown POUT0 B1 A1 Brown I/O power input

+COM
Red POUT1 B2 A2 Red 24VDC ± 10%
Orange POUT2 B3 A3 Orange
Point No. NC No connection
7 outputs
0 to 7
Yellow POUT3
Green POUT4
B4
B5
A4
A5 PIN0
Yellow
Green
Blue POUT5 B6 " " mark is at the A6 PIN1 Blue
Purple POUT6 B7 top of terminal A7 PIN2 Purple
No. A1.
Gray POUT7 B8 A8 PIN3 Gray Point No.
Outputs
Control output 0 White OUT0 B9 A9 PIN4 White selections 0 to 7

Control output 1 Black OUT1 B10 B1 A1 A10 PIN5 Black
Control output 2 Brown OUT2 B11 A11 PIN6 Brown
Control output 3 Red OUT3 B12
Inputs
A12 PIN7 Red

Operation in B20 A20 A13 JOG+ Orange JOG movement (+)
Orange BUSY B13
progress
A14 JOG- Yellow JOG movement (-)
End of
Yellow END B14 A15 MANUAL Green MANUAL mode
operation
Alarm Green /ALM B15 A16 ORG Blue Return-to-origin
Servo status Blue SRV-S B16 A17 /LOCK Purple Interlock
Purple B17 A18 START Gray Start
No connection NC A19 RESET White Reset
Gray B18
White B19 A20 SERVO Black Servo ON
0V -COM
Black B20

■ NPN type I/O circuit details

[Input circuit]
+COM
1
24VDC 4.7kΩ
Input Logic Internal
circuit circuit
-COM
2
Type : DC input (plus common type)

Photo-coupler isolation format
Load : 24VDC ± 10%, 5.1mA
3
OFF voltage :19.6Vmin (1.0mA)
ON voltage :4.9Vmax (4.0mA)
[Output circuit]
4
+COM
Output
Load
Internal
circuit
Logic
circuit 5
24VDC
-COM
Type : NPN open collector output

(Minus common type)
6
Load : 24VDC, 50mA per point

■ PNP type I/O circuit details

[Input circuit]
1
+COM
Input Logic Internal
2 24VDC 4.7k
circuit circuit
-COM
Type : DC input (minus common type)

3 Photo-coupler isolation format
Load : 24VDC ± 10%, 5.5mA
OFF voltage :19.6Vmin (4.5mA)
ON voltage :4.9Vmax (1.1mA)
4 [Output circuit]
+COM
24VDC
5 Internal
circuit
Logic
circuit Output
Load
-COM
6 Type : PNP open collector output

(Plus common type)
Load : 24VDC, 50mA per point

■ 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
PWR
3
SRV
COM2
CC-Link connector
COM1
4
ROB
I/O
5
I/O
ES1
ES2
ES-
MP24V
6
CP24V Jump socket
0V
The CC-Link unit supports CC-Link Ver.1.10. The use of Ver.1.10 compatible CC-Link cable
7
eliminates some restrictions which apply to items such as the cable length between nodes,
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
3 PWR
SRV DeviceNet connector
COM2
4
COM1
ROB
I/O
5
I/O MS
NS
6 ES1
ES2
ES-
MP24V
CP24V
0V

Chapter 3 Data setting
Contents 2
3.1 Data overview 3-1

3
3.2 Point data 3-2
3.2.1 "Standard setting" type 3-3
3.2.2 "Custom setting" type 3-4
4
3.3 Point data details 3-5
3.4 Parameter data 3-9

3.4.1 Parameter list 3-9
5
3.4.2 Parameter details 3-12
7
1
7
3.1 Data overview
3.1 Data overview

Point data and parameter data settings must be specified in order to operate a 1
robot from a TS series controller.
■ Point data
The point data used in positioning operations includes items such as the "RUN
type", "Position", and "Speed", etc.
Up to 255 points (P1 to P255) can be registered.
2
There are two point data setting types: "Standard setting" type that automatically
defines optimal positioning simply by specifying the payload and "Custom
setting" type that allows setting the speed (mm/s) and acceleration (m/s2) in SI
units. Select the desired setting type according to the application. 3
■ Parameter data
Parameter data is divided into the following categories: "RUN parameters", "I/O
parameters", "Option parameters", and "Servo parameters".
4
Data configuration
Sets the point data to be used in

Data Point data P1 to P255 positioning. Select the desired
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
Specifies parameter settings

Parameter data K1 to K20 related to positioning and return-
RUN parameter to-origin operations.
Specifies parameter settings

K21 to K39
related to terminal assignments
I/O parameter and I/O function selection.
Specifies parameter settings related

K80 to K99
to options such as CC-Link, etc.
Option parameter
Specifies parameter settings specified to

K40 to K79, K100 to ... the connected robot. These parameters
Servo parameter are specified during initial processing.
Chapter 3 Data setting 3-1

3.2 Point data
3.2 Point data

1 The point data includes items such as the "RUN type", "Position", and "Speed", etc.
■ Point data item list
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.
■ "Standard setting" and "Custom setting"

There are 2 setting types for point data ("Standard setting" or "Custom setting").
Select the desired setting type according to the application.
6 The maximum number of setting points for both setting types is 255 points (P1 to
P255).
Setting Type Description

Optimum positioning is provided simply by specifying the
7 Standard setting payload. This setting type is well-suited to assembly and
transport applications.
Allows changing the speed and acceleration in SI units so the
desired positioning operation can be set.
Custom setting
This setting type is suited for machining and inspection
systems.
"Standard setting" and "Custom setting" selection

Specify the "Point Type" setting as "Standard setting" or "Custom setting" during initial
processing performed by the support software (TS-Manager).
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.
3-2 Chapter 3 Data setting

3.2 Point data
3.2.1 "Standard setting" type

The optimum acceleration is automatically set simply by specifying the desired payload.
1
Speed and acceleration concept
Speed
"Speed" = 100%
Specified as a percentage of the max.
speed for each robot. 2
"Accel." = 100% "Decel. speed" = 100%
"Speed" = 50%
The optimum acceleration percentage Specified as a percentage
value (%) is specified in accordance of the accel.
with the movement amount and
movement speed, based on the max.
payload accel. which is automatically
Time 3
set when the payload is specified.
Acceleration calculating algorithm
m/s2 Payload is set.

4
Max. payload accel.
Max. payload accel. is automatically set
(max. accel.) for 0kg payload
based on the payload. (See fig. at left.)
Max. payload accel.
for payload setting
5
Optimum accel. is calculated in accordance with the
Max. payload accel. movement amount and movement speed, based on
for max. payload the Max. payload accel. at operation START.
kg
Payload Max. payload
setting value weight Accel. is determined and set.
Payload settings are specified at the K76 (Payload 1) and K78 (Payload 2) servo
parameters. (See section 3.4.2 "Parameter details" of this manual for details.)
6
TIP If 2 payloads have been set, either setting can be selected for each point data. (See the
"Flag" item in section 3.3 "Point data details" of this manual for details.)
■ Point data setting range and default settings

7
Data Item Setting Range Units Default
1 RUN type 1 to 8 (8 types) - 1
2 Position -9999.99 to 9999.99 mm 0.00
3 Speed 1 to 100 % 100
4 Accel. 1 to 100 % 100
5 Decel. 1 to 100 % 100
Depends on
6 Push 1 to upper limit (depends on robot type) %
robot type
7 Zone (-)
-9999.99 to 9999.99 mm 0.00
8 Zone (+)
9 Near width 0.00 to 9999.99 mm 1.00
10 Jump 0 to 255 - 0
11 Flag 0 to 3 - 0
12 Timer 0 to 30000 ms 0.00
* The upper limit of push force is the maximum push force of each robot type.

3.2 Point data
3.2.2 "Custom setting" type

1 This setting type allows a more detailed positioning operation.
Speed and acceleration concept
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.)
4 ■ Point data setting range and default settings

Data Item Setting Range Units Default
1 RUN type 1 to 8 (8 types) - 1
2 Position -9999.99 to 9999.99 mm 0.00
5 3 Speed
0.01 to upper limit (depends on robot type)
Depends on robot type
mm/s
Depends on
robot type
0.01 to upper limit (depends on robot type) Depends on
4 Accel. m/s2
Depends on robot type robot type
5 Decel. 1 to 100 % 100
Depends on
6 6 Push 1 to upper limit (depends on robot type) %
robot type
7 Zone (-)
-9999.99 to 9999.99 mm 0.00
8 Zone (+)
9 Near width 0.00 to 9999.99 mm 1.00
10 Jump 0 to 255 - 0
7 11 Flag 0 to 3 - 0
12 Timer 0 to 30000 ms 0.00
* The upper limit of push force is the maximum push force of each robot type.
"Depends on robot type" indicates that the default setting varies according to the robot type
TIP being used.
· The "Point Type"（"Standard setting" or "Custom setting") can be selected only

when creating new robot data with the support software (TS-Manager).
· When the "Custom setting" type is selected, the max. permissible accel. setting
CAUTION value is the max. accel. for each robot type. However, if a payload is registered,
operation will not occur at an acceleration which exceeds the max. accel. (max.
payload accel.) which has been determined based on the payload.

3.3 Point data details

This section explains the details of each point data item. 1
1: RUN type
Specifies the positioning operation pattern.
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
7. ABS Push 8. INC Push

Push operation occurs after deceleration Push operation occurs after deceleration
completion at the "near width" distance N completion at the "near width" distance N.
from the target position. Speed
Speed
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.
· When the "RUN type" is specified as "INC (relative position)

.................................. Movement amount from current position.
2 The illustration below shows a positioning example when a "Position = 100.00
(mm)" point data setting has been specified.
ABS and INC settings

INC setting
3 (movement amount = 100.00)
ABS setting
Origin point Current position 100 150 200 Position
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.
Personal zone setting example (absolute position)

5
Personal zone
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.
Example for a setting of "Near width = 5.00mm"
Near width Near width
P−5.00 P+5.00 Position
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.
Setting example of "Jump = 2"
2 Speed Speed Merge operation
P1 operation P2 operation P1 operation P2 operation
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.
Bit Setting Setting Item Setting Value / Setting Range
Standard setting: Selects the payload setting for
positioning operations.
5 bit0 Payload select
Custom setting: Limits the max. payload accel. which is
determined according to the payload.
0: Payload 1 (K76)
1: Payload 2 (K78)
Selects the control method during stop state after
positioning operations.
bit1 Stop mode select
6 0: Closed mode
1: Open mode
For details regarding the payload selection, see section 5.7.4 "Changing the payload" and
TIP section 5.7.5 "Stop mode".
7 12: Timer
Specifies the waiting time (delay) before proceeding to the next specified (by
Jump setting) operation following the completion of a positioning operation. This
setting is disabled in merge operations.
Setting example of "Timer = 500ms"
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.

3.4 Parameter data
3.4 Parameter data

The 4 types of parameter data are shown below. 1
Type Description
These parameters are required for robot operation, and they
RUN parameter
include "soft limit" and "zone" settings.
I/O parameter These parameters are for terminal assignment and I/O functions.
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.
3.4.1 Parameter list 3

At the initializing routine, all parameters are set to their default values in accordance
with the specifications of the selected robot and the payload. The following list
shows the parameter setting ranges and default settings.
4
For details regarding parameters see section 3.4.2 "Parameter details".
NOTE
■ 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

3.4 Parameter data
• Return-to-origin
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
Speed switch
3 17
function
0: Disable 1: Enable - 0 -
18 Switched speed 1 to 100 ％ 10 -
■ 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
Node
38 1 to 16 - 1 -
(slave address)
■ Option parameters
• I/O function
80 Option enable 0: Disable 1: Enable - 1 -

3.4 Parameter data
• CC-Link
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
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)
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.

3.4 Parameter data
3.4.2 Parameter details

1 The parameters described below can be adjusted to conform to the actual
application and usage conditions.
■ RUN parameters
• Positioning related parameters
2 K1 Soft limit (-)

Setting Range Default
Depends on
Units Restar
K2 Soft limit (+) -9999.99 to 9999.99 mm -

robot type
Function
Specifies the robot movement range. K1 specifies the minus-side limit, and K2
3 specifies the plus-side limit. Although the robot's effective stroke is factory-
set as the soft limit when shipped, it should be changed if necessary to avoid
collisions with obstacles, etc.
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".
Setting Range Default Units Restart

K3 In-position
0.01 to 1.00 0.01 mm -
5 Function
Specifies the range in which end-of-positioning is recognized.

K4 Push mode
0 to 3 0 - -
6 Function
Specifies the push operation following a push judgment, and specifies the push
failure judgment ("nothing was pushed" judgment).
Settings
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.

K5 Push judgment time
1 to 60000 10 ms -
Function
Specifies the time from "push start" to "push end" at push operations.

K6 Push speed Depends on
0.01 to 20.00 mm/s -
robot type
Function
Specifies the push speed after deceleration at "Decel. push" operations.

3.4 Parameter data
K7 Zone (-) Setting Range Default Units Restart

K8 Zone (+) -9999.99 to 9999.99 0.00 mm -
Function 1
Specifies the zone output (ZONE) range's upper and lower limits.
For zone output details, see section 5.7.2 "Zone output function".
TIP

2
K9 Speed override
1 to 100 100 ％ -
Function
Performs an override (uniform adjustment) of the speed specified for the
positioning operation. This parameter is used to prevent hazardous conditions 3
during trial operations, etc.

K10 JOG speed
1 to 100 100 ％ -
Function 4
Specifies the JOG movement speed. A setting of 100% is 100mm/s.

K11 Inching width
0.01 to1.00 1.00 mm -
Function
5
Specifies the inching width (amount) for JOG movement.

K12 MOVE output level
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.
• Return-to-origin related parameters

7
K13 Return-to-origin speed Depends on
0.01 to 100.00 mm/s -
robot type
Function
Specifies the return-to-origin movement speed.

Return-to-origin
K14 direction Depends on
0 to 1 - -
robot type
Function
Specifies the return-to-origin direction.
Settings
Setting Value Description
0 CCW
1 CW

3.4 Parameter data

K15 Origin Coordi.
0 to 1 0 - -
1 Function
Specifies the coordinate system polarity.
Settings
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)

K16
3 Origin shift
-9999.99 to 9999.99 0.00 mm -
Function
Specifies the coordinates of the return-to-origin end position.
• 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.
7 Refer to "5.3.8 Speed switch function" in Chapter 5 for more details.

NOTE

K18 Switched speed
1 to 100 10 ％ -
Function
Specifies the speed to be used after "Speed switch" has been performed. The
maximum speed to be used by the speed switch function will be calculated by
multiplying the current maximum speed by the value set in this parameter.
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.
Refer to "5.3.8 Speed switch function" in Chapter 5 for more details.

NOTE

3.4 Parameter data
■ I/O parameters
• Terminal assignment related parameters
No. Name Setting / Setting Range Default Units Restart 1
K21 OUT0 select 0 to 8 1 - 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
K25 POUT select
0 to 2 1 - Required
Function 6
Specifies the output timing for the POUT0 to POUT7 point No. outputs.
Settings
0 No output 7
1 Output at positioning end (AFTER)
2 Output at movement start (WITH)
• Function selection related parameters
Alarm No. output Setting Range Default Units Restart

K30 function 0 to 1 0 - -
Function
Enables/disables the alarm No. output function.
Settings
0 Disable
1 Enable
For details regarding alarm No. outputs, see section 5.7.3 "Alarm No. output function".
TIP

3.4 Parameter data

K31 SERVO sequence
0 to 1 0 - -
1 Function
Specifies the SERVO input's servo ON/OFF conditions.
Settings
2 0 Edge (servo ON at leading edge, servo OFF at trailing edge)

1 Level (ON: servo on; OFF: servo off)

K32 JOG response time
3 Function
0 to 1000 0 ms -
Specifies the JOG movement sequence at JOG+/JOG- inputs.

Settings
4 0 JOG operation only
1 to 1000 Inching operation + JOG operation after specified time elapses

K33
5 Input filter
1 to 10 2 ms -
Function
Specifies the filter processing time for inputs from the host unit. The larger the
setting value, the longer the filtering time, and the slower the response to the input.

K38 Node
1 to 16 1 - -
Function
Specifies the node number for a daisy-chained controller.
7
■ Servo parameters
K76 Payload 1 Depends on
0 to … (depends on robot type) kg -
robot type
Function
Specifies the maximum weight of objects (tools, workpieces, etc.) which can be
mounted on the robot. Based on this setting, the maximum acceleration (max.
payload accel. 1 (K77)) for each robot type is automatically calculated and set.
Payload, acceleration, and deceleration settings which differ greatly from the actual values will
WARNING
appropriate values.
For payload details, see section 5.7.4 "Changing the payload".

TIP

3.4 Parameter data

K77 Max. payload accel. 1 2
- 2 m/s -
Function 1
Specifies the maximum payload acceleration defined by the "Payload 1" (K76)
parameter. This is a "read only" parameter.
K78 Payload 2
0 to … (depends on robot type)
Depends on
robot type
kg - 2
Function
Specifies the maximum weight of objects (tools, workpieces, etc.) which can be
mounted on the robot. The maximum acceleration (max. payload accel. 2 (K79))
for each robot type is automatically calculated and set based on this setting. 3
Payload, acceleration, and deceleration settings which differ greatly from the actual values will
WARNING
appropriate values.
4
For payload details, see section 5.7.4 "Changing the payload".
TIP

K79 Max. payload accel. 2
5
2
- 2 m/s -
Function
Specifies the maximum payload acceleration defined by the "Payload 2" (K78)
parameter. This is a "read only" parameter.
K123 Stop mode setting
0 to 1 0 - - 6
Function
Specifies the stop mode.
Settings
Setting value
0 Closed mode
Description
7
1 Open mode
For details regarding the stop mode, see section 5.7.5 "Stop mode".
TIP
Stop mode switching Setting Range Default Units Restart

K124 time 0 to 5000 200 ms -
Function
Specifies the time to wait before shifting to the stop mode after positioning is completed.
Holding current during
K125 stop Depends on
0 to 100 % -
robot type
Function
Specifies the holding current when the stop mode is in open mode. A setting of
100% is the rated current for each robot type.

3.4 Parameter data
■ Option parameters
1 K80 Option enable
0 to 1 1 - -
Function
Specifies the I/O enable/disable setting.
Settings
2 Setting Value Description
0 Disable
1 Enable
■ CC-Link
K81 CC-Link node
1 to 64 1 - Required
Function
Specifies the CC-Link communication node.
4
K82 CC-Link speed
0 to 4 4 - Required
Function
5 Specifies the CC-Link baud rate.
Settings
0 156Kbps
6 1
2
625Kbps
2.5Mbps
3 5Mbps
4 10Mbps
7 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.

3.4 Parameter data
■ DeviceNet
K81 DeviceNet node
0 to 63 0 - Required 1
Function
Specifies the DeviceNet communication node.
K82 DeviceNet speed

Setting Range Default Units Restart 2
0 to 2 2 - Required
Function
Specifies the DeviceNet baud rate.
Settings
3
0 125Kbps
1 250Kbps
2 500Kbps
4
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.

MEMO
1

Chapter 4 I/O signal functions
Contents 2
4.1 I/O specifications 4-1

4.1.1 I/O specifications 1 (NPN and PNP type) 4-1 3
4.1.2 I/O specifications 2 (CC-Link type) 4-2
4.1.3 I/O specifications 3 (DeviceNet type) 4-4
4.2 I/O signal list 4-6 4

4.3 I/O signal details 4-7
4.3.1 Input signal details 4-7
4.3.2 Output signal details 4-9 5
7
1
7
4.1 I/O specifications

The TS series allows positioning and push operations to be controlled from a host 1
unit such as a PLC, etc., by way of an I/O interface. The I/O specifications for the I/
O interface are shown below. (Selected at the time of purchase.)
I/O Specification Explanation
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
No. Signal Name Description No. Signal Name Description

1 Input power + 21 POUT0
2
+COM
common 22 POUT1 5
3 NC 23 POUT2
Use prohibited
4 NC 24 POUT3
Point No. outputs
5 PIN0 25 POUT4
6 PIN1 26 POUT5
7 PIN2 27 POUT6 6
8 PIN3 28 POUT7
Outputs
Point No. select

9 PIN4 29 OUT0
10 PIN5 30 OUT1
Control outputs
11 PIN6 31 OUT2
12 PIN7 32 OUT3 7
Inputs
JOG movement Operation-in-

13 JOG+ 33 BUSY
(+ direction) progress
JOG movement
14 JOG- 34 END Operation-end
(- direction)
15 MANUAL MANUAL mode 35 /ALM Alarm
16 ORG Return-to-origin 36 SRV-S Servo status
17 /LOCK Interlock 37 NC
Use prohibited
18 START Start 38 NC
19 RESET Reset 39
-COM Input power - common
20 SERVO Servo ON 40
Chapter 4 I/O signal functions 4-1

4.1.2 I/O specifications 2 (CC-Link type)

1 Operation occurs as a CC-Link remote device station, on a one-unit to one-station
basis.
"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".
■ Remote I/O (bit I/O)

Input (Master Remote) Output (Remote Master)
3 No.
RYn0
Signal Name
PIN0
Description No.
RXn0
Signal Name
POUT0
Description
RYn1 PIN1 RXn1 POUT1

Point No. select Point No. output
4 RYn4 PIN4 RXn4 POUT4
JOG movement
RYn8 JOG+ RXn8 OUT0
5 (+ direction)
JOG movement
RYn9 JOG- RXn9 OUT1 Control output
(- direction)
RYnA MANUAL MANUAL mode RXnA OUT2
RYnB ORG Return-to-origin RXnB OUT3
6 RYnC /LOCK Interlock RXnC BUSY

Operation-in-
progress
RYnD START Start RXnD END Operation-end
RYnE RESET Reset RXnE /ALM Alarm
RYnF SERVO Servo ON RXnF SRV-S Servo status
RY(n+1)0 - - RX(n+1)0 - -
7 RY(n+1)1 - - RX(n+1)1 - -
RY(n+1)2 - - RX(n+1)2 - -
RY(n+1)3 - - RX(n+1)3 - -
RY(n+1)4 - - RX(n+1)4 - -
RY(n+1)5 - - RX(n+1)5 - -
RY(n+1)6 - - RX(n+1)6 - -
RY(n+1)7 - - RX(n+1)7 - -
RY(n+1)8 - - RX(n+1)8 - -
RY(n+1)9 - - RX(n+1)9 - -
RY(n+1)A - - RX(n+1)A - -
RY(n+1)B - - RX(n+1)B R-RDY Remote READY
RY(n+1)C - - RX(n+1)C - -
RY(n+1)D - - RX(n+1)D - -
RY(n+1)E - - RX(n+1)E - -
RY(n+1)F - - RX(n+1)F - -
n: These values are determined in accordance with the node No. setting.
4-2 Chapter 4 I/O signal functions

■ Remote registers (word I/O)

Remote commands can be executed by using the 4-word input and 4-word output
remote registers. 1
Inputs (Master Remote) Output (Remote Master)
Address Signal Name Description Address Signal Name Description
RWwn WIN0 Execution command RWrn WOUT0 Status
RWwn+1
RWwn+2
WIN1
WIN2 Command option
RWrn+1
RWrn+2
WOUT1
WOUT2 Command response
2
RWwn+3 WIN3 RWrn+3 WOUT3

4.1.3 I/O specifications 3 (DeviceNet type)

1 Operate as slave stations, with each unit occupying 6 input and 6 output channels.
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".)
■ Remote I/O (bit I/O)
3 Channel No.
bit0
Signal Name
PIN0
Description Channel No.
bit0
Signal Name
POUT0
Description
bit1 PIN1 bit1 POUT1

Point No. selection Point No. output
4 bit4
bit5
PIN4
PIN5
bit4
bit5
POUT4
POUT5
m Jog movement n
bit8 JOG+ bit8 OUT0
5 (+direction)
Jog movement
bit9 JOG- bit9 OUT1 Control output
(-direction)
bit10 MANUAL Manual mode bit10 OUT2
bit11 ORG Return-to-origin bit11 OUT3
6 bit12
bit13
/LOCK
START
Interlock
Start
bit12
bit13
BUSY
END
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.

■ Remote registers (word I/O)

Remote commands can be executed by using the 4-word input and 4-word output
areas. 1
Channel No. Signal Name Description Channel No. Signal Name Description
m+2 WIN0 Execution command n+2 WOUT0 Status
m+3 WIN1 n+3 WOUT1 2
m+4 WIN2 Command option n+4 WOUT2 Command response
m+5 WIN3 n+5 WOUT3

4.2 I/O signal list
4.2 I/O signal list

1 A list of the I/O signals is given below. For details regarding each signal, refer to
section 4.3 "I/O signal details".
Type Signal Name Meaning Description
· Specifies the point No. for the positioning operation.
PIN0 to Point No. select
· Specifies the point No. for current position teaching
2 PIN7 0 to 7
JOG movement
(MANUAL mode).
Plus-direction movement occurs while ON (MANUAL
JOG+
(+ direction) mode)
JOG movement Minus-direction movement occurs while ON (MANUAL
JOG-
(- direction) mode)
Performs the positioning operation at the speed set in
3 SPD *1 Speed switch
"Switched speed".
MANUAL MANUAL mode ON: MANUAL mode
Inputs
ORG Return-to-origin Begins a return-to-origin.

ON: movement enabled; OFF: movement disabled; If
/LOCK Interlock
switched OFF during movement, a deceleration stop occurs.
4 START Start
Current position
Begins positioning to the specified point.
Sets (teaches) the current position at the specified
TEACH *2
teach point No.
· Alarm reset
RESET Reset · Point No. output reset
· Relative positioning "remaining movement amount" clear
5 SERVO Servo ON ON: servo on; OFF: servo off.
POUT0 to Point No. output · Outputs the point No. of the positioning operation.
POUT7 0 to 7 · Outputs the alarm No. of the alarm which occurred.
OUT0 Control output 0 Assigns the following outputs by I/O parameter setting:
OUT1 Control output 1 Zone output Personal zone output
6 OUT2 Control output 2
MANUAL mode status Return-to-origin end status
Push status Warning output
OUT3 Control output 3 NEAR output Movement-in-progress output
ZONE *3
Zone output ON when robot enters the parameter-specified zone.
Personal zone
PZONE *3
ON when specified zone for each point is entered.
output
7 MANU-S *3 MANUAL mode
ON when in the MANUAL mode.
Outputs
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.

4.3 I/O signal details

This section explains the I/O signals in detail. 1
4.3.1 Input signal details
■ PIN0 to PIN7 (Point No. Select) ）
These inputs are read as 8-bit binary code Point Nos. when the START and 2
TEACH commands are executed.
• Input example
PIN7 PIN0
0 0 1 0 1 0 0 1
Sum at ON Example
3
20 1
1
2 0
22 0
2
24
3
8
0
Total = 41
(Point No.41)
4
25 32
26 0
7
2 0
■ 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.
This input is enabled only when the MANUAL mode is OFF.

NOTE
■ 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.

4.3.2 Output signal details

■ POUT0 to POUT7 (point No. output) 1
Outputs the current positioning operation's point No. as a binary output. When an
alarm occurs, these signals output the alarm No. as a binary output.
• Output example
POUT7
0 0 1 0 1 0
POUT0
0 1
2
Sum at ON Example
0
2 1
21 0
2 2
0 3
23 8 Total = 41
24 0 (Point No.41)
25 32
6
2 0
27 0 4
■ OUT0 to OUT3 (control outputs)
Performs the following outputs which have been assigned by the OUT0 Select
(K21) to OUT3 Select (K24) I/O parameters.
5
No. Signal Type Description Default
0 - No output -
1 PZONE Personal zone output OUT0
2 NEAR NEAR output OUT1
3 TLM-S Push status OUT2 6
4 ORG-S Return-to-origin end status OUT3
5 ZONE Zone output -
6 MOVE Movement-in-progress -
7
8
/WARN
MANU-S
Warning output
MANUAL mode status
-
-
7
■ BUSY
This signal is ON while operation is in progress.
The "BUSY" ON conditions are "operation in progress" OR "RUN command input in

TIP progress".
■ 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.
■ ORG-S
5 This signal output is ON when return-to-origin is complete, and is OFF when
incomplete.
■ 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.
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.
■ 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.)

Chapter 5 Operation
Contents 2
5.1 Operation procedure 5-1

5.1.1 Overall operation timing chart 5-1 3
5.1.2 Alarm occurrence and clearing 5-3
5.2 Origin search (return-to-origin) 5-4

5.2.1 Origin point detection method 5-4 4
5.2.2 Origin point and coordinates relationship 5-5
5.2.3 Return-to-origin timing chart 5-6
5.3 Positioning operation 5-7

5.3.1 Basic operation 5-7
5
5.3.2 Positioning timing chart 5-11
5.3.3 Positioning merge operation 5-13
5.3.4 Push operation 5-15
5.3.5 Deceleration push operation 5-17 6
5.3.6 Continuous operation 5-18
5.3.7 Output function 5-19
5.3.8 Speed switch function 5-20
5.3.9 Operation examples 5-21
7
5.4 MANUAL mode 5-24
5.4.1 MANUAL mode timing chart 5-24
5.4.2 JOG movement 5-25
5.4.3 TEACH (Teaching) 5-26
5.5 Remote commands 5-27

5.5.1 Overview 5-27
5.5.2 Remote command list 5-27
5.5.3 Timing chart 5-30
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
1
2 5.6 Operation modes 5-36
5.7 Other functions 5-37
3 5.7.1 Soft limit function

5.7.2 Zone output function
5-37
5-37
5.7.3 Alarm No. output function 5-38
5.7.4 Changing the payload 5-38
5.7.5 Stop mode 5-39
4 5.7.6 LED status indicators 5-39
7
5.1 Operation procedure

5.1.1 Overall operation timing chart
1
The operation timing chart from "power ON" to the "positioning operation" is shown below.
Control power
(L1, N1) 2
Operation end Initial processing
(END)
Emergency stop *1
(E-STOP)
Main power
3
(L, N)
Alarm
(/ALM)
Interlock
(/LOCK)
4
Servo ON
(SERVO)
Servo status
(SRV-S) 5
Return-to-origin
(ORG)
*2
Return-to-origin
end status (ORG-S)
6
(BUSY)
Point No. select

00h 01h 00h
(PIN0 to PIN7)
Start
(START)
7
Td≥5ms *3
Point No. output
00h 01h
(POUT0 to POUT7)
(1) Turn the control power ON.

(2) After initial processing is completed the END signals switch ON.
(3) The safety circuit and main circuit switch ON.
(4) The /ALM signal switches ON.
(5) The /LOCK and SERVO inputs switch ON.
(6) After the SRV-S signal switches ON, the ORG input switches ON.
(7) The END signal switches OFF when the return-to-origin begins, and BUSY switches on.
(8) The ORG input switches OFF when the ORG-S signal switches ON. At this time,
END switches ON, and BUSY switches OFF.
(9) The PIN0 to PIN7 inputs occur.
Chapter 5 Operation 5-1

(10) The START input switches ON after the Td delay period elapses.
(11) The END signal switches OFF when positioning begins, and BUSY switches ON.
1 (12) The START input switches OFF.
(13) The END signal switches ON when positioning ends, and BUSY switches OFF.
The specified positioning point No. is output (this output is also possible when
the robot starts moving.).
2 *1 : For details regarding how to configure "emergency stop" and "main power" related
safety circuits (external main power breaker circuit), see section 2.7, "Configuring an
emergency stop circuit".
*2 : The ORG-S signal is assigned to one of the OUT0 to OUT3 control outputs. It is
3 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.
• Initial processing time

4 The internal system's initial processing occurs for approximately 1 second
following a power ON. The END output switches ON when initial processing
ends. However, when using a field network such as CC-Link, etc., additional
initial processing time may be required for communication, depending on the
5 network type and the number of slave units. Therefore, the END output timing
following the end of internal initial processing will vary.
• Communication check (field network)
In a field network, always check that the communication state is normal before
starting operation. When using the host unit's communication status flag to
6 monitor the communication state, allow a time delay of about 200ms after
recognizing a normal state, and then start operation. If the time delay is short,
the controller output information may not be read correctly, so the operation
cannot start normally.
7 Communication status * Communication error
Data undefined region

Alarm
(/ALM)
Servo ON 200ms or less

(SERVO)
* 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.
5-2 Chapter 5 Operation

5.1.2 Alarm occurrence and clearing

The operation timing chart from "alarm occurrence" to "alarm clear" is shown below.
1
Point No. select
00h Setting 00h Setting
(PIN0 to PIN7)
*2
Point No. output
00h Alarm No.
(POUT0 to POUT7)
Error occurrence 2
Alarm
(/ALM)
Reset
(RESET) *1
Servo ON
(SERVO)
3
Servo status
(SRV-S)
Start
(START)
4
(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".

5.2 Origin search (return-to-origin)

1 An origin point must be determined in order for this controller to operate a robot in a single-
axis coordinate system. This operation is called an "origin search" (or "return-to-origin").
Performing a return-to-origin sets the robot's coordinates and enables positioning.
5.2.1 Origin point detection method

This controller supports incremental type robots (TRANSERVO) that use the stroke-
2 end (torque detection) method as the origin point detection method. Origin search
is required each time the control power supply is started.
■ Stroke-end (torque detection) method
Movement in the return-to-origin direction occurs when a return-to-origin begins, and
continues until the mechanical end is struck. The movement direction is reversed
3 at that time by motor torque detection, and returns by an amount which is unique to
each robot. Movement then stops, and a return-to-origin end status is established.
Return-to-origin direction (K14) = 0 (CCW) Return-to-origin direction (K14) = 1 (CW)
L L
4 O
S S
O
K13 K13
Motor side Return-to-origin direction 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
5 The appropriate return-to-origin format is factory-set for each robot according to its
CAUTION type, and this factory setting should not be changed.

5.2.2 Origin point and coordinates relationship

Coordinates are determined in accordance with the return-to-origin direction.
The opposite direction from the return-to-origin direction is the "plus" direction.
1
This direction (coordinate) setting can be reversed by changing the K15 ("Origin
Coordi.") parameter setting.
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
Return-to-origin direction Return-to-origin direction

CW
O O
4
(Origin point) (Origin point)
Coordinate "plus" direction Coordinate "plus" direction
■ "Origin shift amount" setting

The origin point coordinates can be changed by changing the K16 (Origin Shift
5
Amount) parameter setting.
The origin point coordinates are therefore this parameter's setting value.
■ Machine reference
When an origin search (return-to-origin) is performed on a robot using the stroke 6
end (torque) or sensor method, a slight difference in distance occurs between
the position where the origin signal is detected and the reference position of the
motor's position sensor. This difference is called the machine reference and is
usually expressed as a percent. The machine reference is factory-adjusted to
within 25% to 75%. (The adjustment range varies according to the robot type.
7
For details, refer to the user's manual for the robot being used.) The machine
reference can be checked by executing a return-to-origin from the optional
Handy Terminal (HT1) or from the support software (TS-Manager).
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.

5.2.3 Return-to-origin timing chart

1 Return-to-origin
(ORG)
(BUSY)
2 Return-to-origin end status

(ORG-S)
Operation end
(END)
(1) The ORG input switches ON.

3 (2) When the return-to-origin begins, the END signal switches OFF, and BUSY
switches ON.
(3) When ORG-S switches ON, the ORG input switches OFF.
(4) BUSY switches OFF, and END switches ON.

5.3 Positioning operation

A positioning operation can be performed by creating the required point data ("RUN 1
type", "Position", "Speed", "Accel.", data, etc.), specifying the desired Point Nos.
at PIN0 to PIN7 (point No. select), and then executing the START command input.
Positioning can be executed as absolute position movement (ABS), as relative
position movement (INC), or by a "push" or "merge" operation, etc.
5.3.1 Basic operation

2
The positioning operation (absolute and relative position movement) and its
relationship to the point data is explained here.
Speed
3
Speed
Acceleration
Deceleration
4
Time
Target position
■ Setting the "Position" data

(1) When the RUN type is "ABS" 5
Positioning occurs to the target position defined by the "position" data.
[Example]：
If positioning to the 300.00mm position is specified when the current stop position is 50.00mm:
50.00mm 300.00mm
6
Origin point Current position Target position
(2) When the RUN type is "INC"
Positioning occurs with the value defined by the "position" data representing
the amount of movement from the current stop position.
[Example] ： 7
If positioning to the 300.00mm position is specified when the current stop position is 50.00mm:
50.00mm 350.00mm
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.
"Remaining movement amount" movement occurs only at interlock stops. When a

servo OFF occurs due to an alarm or by an "emergency stop", etc., the relative
CAUTION positioning's remaining movement amount clears, and the next relative positioning
operation begins from the original start position.

■ Setting the "Speed", "Accel.", and "Decel." data

(1) When using the "Standard setting" point type
1 The "Speed" and "Accel." settings are specified as a percentage of the optimal
positioning speed and acceleration values for each robot type, based on
that robot's maximum speed and maximum payload acceleration values. The
"Decel." is specified as a percentage of the "Accel." setting.
2 Speed "Speed" setting range: 1 to 100 [%]

When 100%, the max. speed is
Max. speed = 1200.00 [mm/s]
Max. acceleration = 8.00 [m/s2]
1200.00 [mm/s]. Max. payload acceleration = 4.00 [m/s2]
Speed
Acceleration Deceleration
3 "Deceleration" setting range: 1 to 100 [%]

Set as a percentage of the
"Acceleration setting range: 1 to 100 [%] acceleration value.
When 100%, the max. payload accel.
is 4.00 [m/s2].
4 Time
(2) When using the "Custom setting" point type

The "Speed" and "Accel." settings are specified by adopting the maximum
speed and acceleration (max. payload acceleration with 0kg payload)
5 values for each robot type as the maximum setting values. If the specified
acceleration value exceeds the max. payload acceleration defined by the
payload setting, the max. payload acceleration value is used as the setting
value.
6 Speed "Speed" setting range: 0.01 to 1200.00 [mm/s]

The max. setting value is the max.
Max. speed = 1200.00 [mm/s]
Max. acceleration = 8.00 [m/s2]
speed of each robot type. Max. payload acceleration = 4.00 [m/s2]
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
Selecting "Standard setting" or "Custom setting"

Select "Standard setting", or "Custom setting" as the Point Type setting at the initial
processing performed by the TS-Manager support software (optional).

■ Maximum payload acceleration and the payload

The maximum payload acceleration varies according to the payload setting. The
optimum "maximum payload acceleration" is determined based on the robot's
registered payload weight. Two "maximum payload acceleration" settings can be
1
selected by "flag" acceleration selection.
m/s2
Max. payload accel.

(max. accel.) for 0kg payload 2
Max. payload accel.
for payload setting
Max. payload accel.
for max. payload
kg
Payload
setting value
Max. payload weight 3
■ Relationship between "maximum payload acceleration" and "acceleration"
In the "Standard setting" point type, the acceleration is optimized within the
maximum payload acceleration, based on the positioning speed and movement
distance. The "acceleration" and "maximum payload acceleration" are the same 4
in cases where the actual operation speed reaches the robot's maximum speed,
but in all other cases, the optimum acceleration is calculated for the positioning
operation.
In the "Custom setting" point type, the specified acceleration setting becomes
the actual operation acceleration unless it exceeds the maximum payload
acceleration. In that case, it is limited by the maximum payload acceleration (the
5
operation acceleration cannot exceed the maximum payload acceleration).
Accel. 1 Accel. 1
100% 1200.00mm/s
6
Accel. 2 Accel. 2
30% 360.00mm/s
Accel. 1 = [max. payload accel.] × [accel. data] / 100

Accel. 1 = accel. 2 = accel. data
7
Accel. 2 = optimized value based on accel. 1
<With standard setting> <With custom setting>
■ Setting the speed override
When required for safety during trial operation, etc., the overall positioning
operation speed can be adjusted by the K9 (Speed Override) parameter setting.
The actual operation speed will be as shown below.
Speed = speed data specified at each point data × speed override (K9) / 100
• Speed command error at "Custom setting" setting:

The specified speed setting's error can be calculated based on the relationship
between the motor's "resolution per turn" and the lead length
Example: When the resolution = 20480 (pulses per turn), and lead length (movement
amount per turn) = 20.00mm:
CAUTION The number of pulses per 1mm is 20480 ÷ 20 = 1024
If the speed is set as "0.01mm/s":
1024 × 0.01 = 10.24 10pps (decimal values are truncated), therefore,
a maximum of error of 2.4% (0.24/10) may occur.

■ 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

5.3.2 Positioning timing chart

The timing chart for positioning operations is shown below.
1
（ 1 ）For "normal end"
Point No. select

00h Setting 00h
(PIN0 to PIN7)
2
00h Response
Point No. output
(POUT0 to POUT7)
Positioning operation
3
Start (START)
Td 5ms
(BUSY)
4
Operation end
(END)
(1) The PIN0 to PIN7 point number settings are specified.

(2) The START input switches ON after the Td delay period elapses.
(3) When positioning begins, the END signal switches OFF, and the BUSY signal 5
switches ON.
(4) The START input switches OFF.
(5) When positioning ends, the BUSY signal switches OFF, and the END signal
switches ON.
6
The "BUSY" ON conditions are "operation in progress" OR "RUN command input in
TIP progress".
• Point No. setting conditions

7
A delay of 5ms or longer (guideline value) is required between the point No. input
and the START command, and this START command must be kept ON until the
BUSY signal switches ON. A malfunction may occur if the point No. is not set
CAUTION 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.

■ Point No. outputs

An answer-back for the point Nos. used in the positioning operation occurs at the
1 POUT0 to POUT7 point No. outputs. This output can be set to occur "WITH" (at
movement start), or "AFTER" (at positioning end) by the K25 (POUT select) I/O
parameter. (This parameter is factory-set as "AFTER".)
Point No. select
00h Setting 00h
(PIN0 to PIN7)
2
Time
AFTER (At positioning end)
3
Point No. output
00h Response
(POUT0 to POUT7)
WITH (At positioning start)
Point No. output
00h Response
(POUT0 to POUT7)
4 NOTE
In merge operations, the operation's merge timing is adopted as the point No. output timing.
(2) For "error end"

Point No. select
5 (PIN0 to PIN7)
00h Setting 00h
Point No. output

00h
(POUT0 to POUT7)
Error occurrence
6
START
7
(BUSY)
Operation end
(END)
If an error occurs before positioning ends, operation stops and the BUSY signal
switches OFF. The END signal remains OFF.
An "error end" condition can be caused by the following conditions.
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.

5.3.3 Positioning merge operation

The positioning movement speed can be changed while in progress by performing
positioning in the merge operation mode.
1
The figure below shows an example of the following merge operation: "operation 1 (P1
positioning) operation 2 (P2 positioning) operation 3 (P3 positioning).
■ Merge operation example
Speed 2
Operation 1 Operation 2 Operation 3
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 ABS merge 200.00 10 100 100 2
P2 ABS merge 400.00 100 100 100 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.
· Even if a "merge" RUN type is selected, merging will not occur if the "Jump" setting is "0".
6
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.
(1) When the deceleration distance following a merge is insufficient:

Speed
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
The inadequate acceleration and deceleration times in the above examples

could hinder robot operation.

5.3.4 Push operation

A push operation is performed at the positioning operation. During the push
operation, the torque is limited in accordance with the push force being used,
1
allowing workpieces to be grasped and press-fit.
Push operation example
Speed 2
Torque limit zone
Speed
3
Target position
Time
Torque Push judgment time (K5) 4
(K5)
Push force
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.

■ Push judgment time

This setting is used as the reference for "operation end" judgments at push
1 operations. The "operation end judgment" is made when the time during which
the torque level is at the push force reaches the K5 (push judgment time) RUN
parameter setting. If a push operation was stopped and then resumed, the
judgment time count is the total time during which the torque was at the push
force level.
2
Judgment example when push continued
T1 [ms] T2 [ms] T3 [ms]
3
TLM-S
(push status)
END
(operation end)
"Push end" conditions: (T1 + T2 + T3 push judgment time (K5)
■ Selecting the operation which follows the push judgment

4 The operation which occurs after the push operation ends (after push judgment)
can be selected as another push operation (push continue) or as a positioning
operation. This selection is made at the K4 (push mode) RUN parameter. (Default
setting: "Push continue")
5 ■ Push failure judgment
If positioning to the target position is completed before the push judgment has
ended, this is processed as a "push failure". This "push failure" function can be
enabled/disabled by the K4 (push mode) RUN parameter setting.
6 If the intended push operation cannot be performed, possible causes are:

・Push judgment time is too short.
・Acceleration during push operation is too large.
・Push operation was started too soon after an operation other than push was performed.
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.

5.3.5 Deceleration push operation

Deceleration ends at the position set as the "Near width" value (distance) short of
the target position, and the push operation then begins in accordance with the K6
1
(push speed) RUN parameter setting.
Speed
Torque limit zone 2

Speed
Deceleration ends when the "near
width" setting value (distance)
zone is entered ("near" refers to
"near the target position"), and
the push operation then begins. 3
Push speed Target position
(K6)
Time
Torque Push judgment time
(K5)
4
Push force
"Near width" output

5
(NEAR)
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.

5.3.6 Continuous operation

1 "Continuous operation" refers to consecutive positioning operations which occur in
response to an initial START command input. When one positioning operation ends,
and the "Timer" specified delay (wait) time elapses, the next positioning operation
begins for the "Jump" specified point No. Operation ends when there are no more
"Jump" settings.
2
The figure below shows the following continuous operation example: Operation 1 (P1
positioning) Operation 2 (P2 positioning) Operation 3 (P3 positioning).
Continuous operation example

3
Speed
Operation 1 Operation 2 Operation 3
Time
5 Timer 1 Timer 2
(BUSY)
Operation end
6 (END)
Point No. output

(POUT0 to POUT7) 00h Operation 1 response Operation 2 response Operation 3 response
Point data settings

7 No. RUN type
Position Speed Accel. Decel.
Jump
Timer
[mm] [%] [%] [%] [sec]
P1 ABS 200.00 100 100 100 2 500
P2 ABS 400.00 30 100 100 3 1000
P3 ABS 500.00 30 100 100 0 0
· 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.

5.3.7 Output function

During positioning operations, individual operation speeds and position information
are transmitted to the host unit by the outputs shown below.
1
Speed
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)
■ Personal zone output (PZONE)

This output switches ON when the current position enters the zone of each point. 5
■ Near width (NEAR)
This output switches ON when the current position enters the near width zone
(near-target-position zone).
■ Movement-in-progress output (MOVE)
6
This output is ON while robot movement is in progress. The minimum speed
for recognizing a movement-in-progress condition can be specified at the K12
(movement-in-progress output level) RUN parameter.
7

5.3.8 Speed switch function

1 The overall positioning operation speed can be switched between two levels from
the host equipment by using the speed switch input (SPD).
■ Assigning method
When you set the "Speed switch function" (K17) to "Enable", the speed switch
(SPD) will be assigned to JOG+ input. SPD will be ON at the same time as the
2 selection of point number, and the positioning operation will be performed at
the speed calculated by multiplying the current speed by the value specified at
"Switched speed" (K18).
* Cannot be assigned in the manual mode (MANUAL=ON).
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

5.3.9 Operation examples

■ Setting example 1 (movement between 2 points, standard setting) 1
Speed
100%
2
Position
P1 P2
(200.00mm) (500.00mm)
100%
3
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)

7
No. RUN type
[mm] [%] [%] [%]
P1 ABS 200.00 250.00 4.00 100
P2 ABS 500.00 500.00 4.00 50

(2) Return to P1.

■ Setting example 3 (positioning + pitch feed)

Speed
1
100%
100.00mm 100.00mm 100.00mm
2
P1
(0.00mm) Position
P2
(200.00mm)
100%
3 No. RUN type

Position
[mm]
Speed
[%]
Accel.
[%]
Decel.
[%]
P1 ABS 0.00 100 100 100
P2 ABS 200.00 100 75 100
P3 INC 100.00 100 100 100
4 (1) P1 P2 positioning occurs.
(2) Pitch feed corresponding to the P3 movement amount occurs.
(3) Return to P1.
5 ■ Setting example 4 (merge operation)

Speed
100%
6 10%
P1 Position
(0.00mm) P2 P3
(200.00mm) (400.00mm)
P4
(500.00mm)
100%
7
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
(1) Merge operation from P1 P2 P3 P4.

(2) Return to P1.

■ Setting example 5 (workpiece push)

Speed
1
100% P3
(100.00mm)
Workpiece
2
P1 Position
(0.00mm) P2
(350.00mm)
100%
No. RUN type

Position
[mm]
Speed
[%]
Accel.
[%]
Decel.
[%]
Push Force
[%]
3
P1 ABS 0.00 100 100 100 100
P2 ABS 350.00 100 100 100 100
P3 INC Push 100.00 10 100 100 70

4
(2) Push operation corresponding to the P3 movement amount occurs.
(3) Return to P1.
■ Setting example 6 (workpiece push)
Speed
5
1000.00mm/s
100.00mm
Push speed (K6) Workpiece

6
P1 Position
(0.00mm)
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
(1) P1 P2 push operation occurs (deceleration occurs 100.00mm before P2).

(2) After push operation ends, positioning to P3 occurs.
(3) Return to P1.

5.4 MANUAL mode
5.4 MANUAL mode

1 In the MANUAL mode, JOG movement and position teaching, etc., can be
performed from a host unit by using the optional Handy Terminal (HT1) or the TS-
Manager support software. This section explains the MANUAL mode functions.
5.4.1 MANUAL mode timing chart

2 *1
MANUAL mode
(MANUAL)
*2
MANUAL mode
status (MANU-S)
3 Interlock
(/LOCK)
*3
JOG plus-direction
movement (JOG+)
4 JOG minus-direction
movement (JOG-)
Point No. select

00h Setting 00h
(PIN0 to PIN7)
Teaching
5 (TEACH)
Operation-in- Td
progress (BUSY)
Operation end
(END)
6 *1 : The MANUAL mode is established while the MANUAL input is ON.

*2 : The MANU-S output can be assigned to the OUT0 to OUT3 control outputs. This
requires the assignments to be specified by I/O parameter setting.
*3 : The interlock function must be OFF in order to execute the TEACH command.

5.4 MANUAL mode
5.4.2 JOG movement

When in the MANUAL mode ("MANUAL" ON), robot JOG movement in the specified
direction is possible while the JOG+ / JOG- input is ON. When this input switches
1
OFF, a deceleration stop occurs. JOG movement can be performed even if a return-
to-origin has not been completed.
2
JOG
Speed
Inching width
（K11）
Jog speed
(K10)
JOG response time (K32)

Time
3
BUSY
END
• When the K32 (JOG response time) I/O parameter is set as "0":
Movement continues at the JOG speed (K10) until the JOG input switches OFF.
4
• 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

5.4 MANUAL mode
5.4.3 TEACH (Teaching)

1 When in the MANUAL mode ("MANUAL" ON) with "/LOCK" switched OFF, the current
position can be written to the specified point No. at the leading edge of the TEACH
input ON.
The TEACH function is disabled if a return-to-origin has not yet been completed.
2 NOTE
Current position
Origin point 210.45mm Position
3 • Writing the current position to a point for which data exists

No. RUN type Flag
[mm] [%] [%] [%]
P3 ABS 500.00 50 100 100 0
▼ TEACH
4 No. RUN type
Flag
[mm] [%] [%] [%]
P3 ABS 210.45 50 100 100 0
The current position is written to the position data.
5 • Writing the current position to a point for which data does not exist
No. RUN type Flag
[mm] [%] [%] [%]
P3 - - - - - -
6 ▼ TEACH
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.

5.5 Remote commands
5.5 Remote commands

5.5.1 Overview
1
Remote commands use the field network's remote registers to read and write
various types of information.
■ CC-Link 2
Address Signal Name Description Address Signal Name Description
RWwn WIN0 Execution command RWrn WOUT0 Status
RWwn+1 WIN1 RWrn+1 WOUT1 3
RWwn+2 WIN2 Command option RWrn+2 WOUT2 Command response
RWwn+3 WIN3 RWrn+3 WOUT3
■ DeviceNet 4
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
5.5.2 Remote command list 6

■ Query
Command Command Option Command Response

Name
WIN0 WIN1 WIN2, WIN3 WOUT1 WOUT2, WOUT3 7
Current position
0100h 0000h - - Current position
read
Current speed read 0100h 0001h - - Operation speed
Electrical current
0100h 0002h - - Electrical current
read
Voltage read 0100h 0009h - - Voltage
Temperature read 0100h 000Ah - - Temperature
Current point No. Operation-in-
0100h 000Dh - -
read progress point No.
Load rate read 0100h 000Eh - - Load rate
2-word data is registered as the command response (Little Endian).

NOTE

5.5 Remote commands
■ Point data writing

1 Name
WIN0 WIN1 WIN2, WIN3 WOUT1 WOUT2, WOUT3
Operation
Operation type write 0200h Point No. Point No. -
type
Position write 0201h Point No. Position data Point No. -
Speed write 0202h Point No. Speed data Point No. -
2 Acceleration write 0203h Point No.
Acceleration
Point No. -
data
Deceleration
Deceleration write 0204h Point No. Point No. -
data
Push force
Push force write 0205h Point No. Point No. -
3 Zone (-) write 0206h Point No.
data
Zone (-) data Point No. -
Zone (+) write 0207h Point No. Zone (+) data Point No. -
"Near width"
"Near width" write 0208h Point No. Point No. -
data
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
Name
7 Operation type read

Position read
0300h
0301h
Point No.
Point No.
-
-
Point No.
Point No.
Operation type
Position data
Speed read 0302h Point No. - Point No. Speed data
Acceleration read 0303h Point No. - Point No. Acceleration data
Deceleration read 0304h Point No. - Point No. Deceleration data
Push force read 0305h Point No. - Point No. Push force data
Zone (-) read 0306h Point No. - Point No. Zone (-) data
Zone (+) read 0307h Point No. - Point No. Zone (+) data
"Near width" read 0308h Point No. - Point No. "Near width" data
Jump read 0309h Point No. - Point No. Jump data
Flag read 030Ah Point No. - Point No. Flag data
Timer read 030Ch Point No. - Point No. Timer data
• 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).

5.5 Remote commands
■ 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
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

Name
Status clear
WIN0
0000h
WIN1
-
WIN2, WIN3
-
WOUT1
-
WOUT2, WOUT3
-
6
(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".

5.5 Remote commands
5.5.3 Timing chart

1 Remote command transmission/reception timing chart examples are given below.
■ When executing a query
[Example] Executing "current position" reading
Command option
0000h 0000h 0000h 0000h 0000h
(WIN1)
2 Command
Td Td
0000h 0100h 0000h 0100h 0000h

(WIN0)
Status
(WOUT0) 0000h 0200h 0000h 0200h 0000h
3 Command response
0100h
00000000h 00002710h(=10000)
0100h
00004E20h(=20000)
(WOUT2, WOUT3)
■ When executing point data writing/reading

[Example] Executing position writing/reading
4 Command option
(WIN2, WIN3)
0000
0000h
0000
2710h
00000000h
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)
■ When executing parameter data writing/reading

7 [Example] Executing speed override (K9) writing/reading
Command option 0000 0000 00000000h
(WIN2, WIN3) 0000h 0064h
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)
Delay time (Td) setting

Because remote commands are processed across multiple channel (word) information, a
prescribed time period is required for each area's information to be refreshed. Therefore, after
each command option setting, a delay time (Td) is required before the command is set. For
"Td" details, refer to the operation manuals for the network and host types being used.

5.5 Remote commands
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
Command Response Status

2
Output WOUT3 WOUT2 WOUT1 WOUT0
Data - 0200h
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

5.5 Remote commands
5.5.5 Point data writing

1 Point data is written.

Data Point No. 02xxh
2 Command Response Status

- Point No. (response) 0200h
3 ■ Commands and data
Command Option Units

Command Data Write
(WIN0) Point No. Data Destination
Standard Setting Custom Setting
(WIN1) (WIN2, WIN3)
4 0200h
Operation
type
- ROM
0201h Position 0.01mm RAM

0202h Speed % 0.01mm/s RAM
0203h Acceleration % 0.01m/s 2 RAM
5 0204h 1(0001h) Deceleration % RAM
0205h to Push force % RAM
0206h 255(00FFh) Zone (-) 0.01mm ROM
0207h Zone (+) 0.01mm ROM
0208h Near width 0.01mm ROM
6 0209h Jump - ROM
020Ah Flag - ROM
020Ch Timer ms ROM
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

5.5 Remote commands
5.5.6 Point data reading

Point data is read.
1
- Point No. 03xxh

2
Data Point No. (response) 0200h
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
(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

5.5 Remote commands
5.5.7 Parameter data writing

1 Parameter data is written.

Data Parameter No. 0400h
2 Command Response Status

- - 0200h
3 ■ Command type and data
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

5.5 Remote commands
5.5.8 Parameter data reading

Parameter data is read.
1
- Parameter No. 0500h

2
Data - 0200h
■ Command type and response data 3

Command Option Command Response
Command
Parameter No. Data Unit
（WIN0）
（WIN1）（WOUT2, WOUT3）
0009h Speed override (K9) % 4
0500h 000Ah JOG speed (K10) %
000Bh Inching width (K11) 0.01mm
TIP
For parameter data details, see Chapter 3, section 3.4 "Parameter data". 5

5.6 Operation modes
5.6 Operation modes

1 In addition to I/O control from a host unit (PLC, etc.), the TS series also offers
communication control from a personal computer (running the TS-Manager support
software) and from Handy Terminal (HT1). In order to use these tools in a safe manner,
the desired operation mode can be selected to enable exclusive operation.
To select the operation mode, use the TS-Manager or HT1.
2 • Normal mode (NRM)
This mode permits both I/O control and communication control from the PC or HT1.
• Monitor mode (MON)
This mode permits full I/O control, but communication control from the PC or
3 HT1 is limited to "monitoring" only, and data editing is not possible. Data can be
transmitted from the controller to the PC in this mode.
• Debug mode (DBG)
Communication control from the PC or HT1 is possible in this mode, but I/O
4 control inputs are prohibited.

■ Operation mode functions
Each mode and its available functions are shown below.
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.

5.7 Other functions
5.7 Other functions

5.7.1 Soft limit function 1
Software imposed limits can be applied to the robot's range of motion in order to
prevent interference with peripheral equipment. Robot movement is then restricted
to target positions which are within the range specified by the soft limit function.
The soft limit range can be set at the K1 (soft limit (-)) and K2 (soft limit (+)) RUN 2
parameters.
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.
Zone output (ZONE)
Position
Zone (-) Zone (+)
(K7) (K8)
The zone output function is disabled if a return-to-origin has not yet been completed.
NOTE

5.7 Other functions
5.7.3 Alarm No. output function

1 When an error alarm occurs, the alarm No. is output to the POUT0 to POUT7 point
No. outputs. If multiple alarms have occurred, the highest priority alarm No. is
output. The alarm No. output function can be enabled/disabled by the K30 (Alarm
No. output function) I/O parameter setting.
2 NOTE
• Error alarm denotes "Error alarm (internal causes)" and "Error alarm (external causes)".
• For details regarding error alarms, see section 6.1 "Alarm groups".
■ 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
5.7.4 Changing the payload

The TS series automatically sets the acceleration and optimizes positioning
5 operations based on the payload which has been defined. However, in conveyance
systems, the payload can vary greatly depending on whether or not the conveyance
objects are loaded or not. In such cases, selection is possible from 2 payload types
for each operation. The payload selection is made at each point data's "Flag" setting.
Item Setting Description
6 Flag bit0 = 0 Payload 1 (K76) applies
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
Operation 1 (movement to P1) Operation 2 (movement to P2)
Operation with 3kg payload Operation with 30kg payload
In the "Custom setting" mode, the max. payload acceleration "trip" setting is adopted.
TIP

5.7 Other functions
5.7.5 Stop mode

This switches the control during stop state after positioning operations. Use "Flag"
for each point to switch the stop mode.
1
Item Setting value Description
Stop mode Flag bit1=0 Closed mode
select Flag bit1=1 Open mode
2
■ Closed mode
Although this controller is designed to drive a stepping motor, it delivers high
performance equivalent to servo motors by means of our unique vector control.
This ensures "no step-out" and reduces the holding torque required during stop. 3
■ Open mode
This mode enables the holding torque during stop. In closed mode, the motor
operates like a servo motor and tends to cause a hunting to occur during stop.
In open mode, a hunting caused by external disturbing effects can be avoided
since the holding torque is enabled. The holding torque amount and the time to
4
enable the holding torque can be set by the parameters.
The stop mode after the "Point trace" operations will be determined by the "Flag" setting for
each point data. 5
NOTE The stop mode after the operations such as "Jog" and "Return-to-origin" operations (other
than "Point trace" operations) will be determined by the parameter "Stop mode" (K123).
• In the open mode, correction of the stop position will not be made if the position has
been shifted by an external force, etc. because the feedback control is not done in 6
this mode.
CAUTION
• When the stop mode is switched from closed to open mode, the stop position may
change to a certain degree due to the effect of the step angle.
5.7.6 LED status indicators 7

Operation statuses are indicated by 2 types of LEDs located on the front face of the
controller. The LED statuses and their meanings are listed below.
LED Name Color Status Meaning

OFF Control power shutoff
Blinking
PWR Blue Servo OFF
(at 0.5sec intervals)
ON (constant ON) Servo ON
Control power shutoff or no active error alarms
OFF
(normal)
ERR Red Blinking
Error alarm active (external cause)
(at 0.5sec intervals)
ON (constant ON) Error alarm active (internal cause)

MEMO
1

Chapter 6 Troubleshooting
Contents 2
6.1 Alarm groups 6-1

3
6.2 Alarm recording function 6-1
6.3 Alarm list 6-2

4
6.4 Alarms: Possible causes and actions 6-3
7
1
7
6.1 Alarm groups
6.1 Alarm groups

Alarms on this controller are one of the following 5 groups. 1
Group Description
Error messages involving data editing or operation commands sent
Message alarm
as data.
Operation alarm Alarm that appears when operation ends due to an error.
Alarm that occurs due to internal causes. To resume operation after
2
Error alarm eliminating the cause of the problem, you must reset the alarm
(internal cause) or turn the power off and back on again. An alarm description is
stored in the alarm history.
Alarm that occurs due to external causes. Alarm occurs when
Error alarm
(external cause)
safety circuit is triggered. Operation can resume after eliminating
the cause. 3
Alarm that is displayed as a warning. (This does not directly affect
Warning alarm
operation.)
6.2 Alarm recording function 4

This function records and stores the error alarms (internal cause) as they occur,
along with their alarm number and alarm conditions at that time. Up to 50 alarms
can be stored.
* This function does not store the "81: AC POWER DOWN" error alarm.
5
■ Alarm description
Item Description Units
If 2 or more error alarms occur, the cause of the alarm with the
Cause -
smaller alarm No. is stored.
Day ： hour ：
6
Time Total time counted while control power was on.
minute
Position Current position information when an alarm occurred mm
Speed Speed at which robot was moving when alarm occurred. mm/s
Run status "Run type" that was selected when alarm occurred.
Point number that was selected for operation when alarm
-
7
Run point -
occurred. When not in operation a 0 (zero) is entered.
Current Command current when alarm occurred %
Voltage Motor power voltage when alarm occurred V
Input Input information when alarm occurred -
Output Output information when alarm occurred -
Chapter 6 Troubleshooting 6-1

6.3 Alarm list
6.3 Alarm list

1 The following table shows alarm numbers, messages, and reset methods.
*1 *2
Alarm No. Alarm Message Reset Origin Position
02 DATA ERROR - -
03 DATA RANGE OVER - -
2 04
05
MONITOR MODE
RUNNING
-
-
-
-
06 MANUAL MODE - -
41 SERVO OFF - -
42 ORIGIN INCOMPLETE - -
3 43 NO POINT DATA - -
44 SOFTLIMIT OVER - -
45 INTERLOCK - -
46 STOP KEY - -
47 PUSH MISTAKE - -
4 48 ORG. MISTAKE - -
49 SERIAL COMM. ERR. - -
81 AC POWER DOWN Restart
82 ENCODER ERROR Restart
84 IPM ERROR Reset -
5 85 OVERHEAT Reset -
86 OVERLOAD Reset -
87 OVERVOLTAGE Reset -
88 LOW VOLTAGE Reset -
6 89
8E
POSITION ERROR
OVERCURRENT
Reset
Reset -
8F MOTOR CURRENT ERR. Reset -
91 INT. COMM. ERROR Reset -
92 CPU ERROR Reset -
7 93
C1
I/O FAULT
EMERGENCY STOP
Reset *3
Eliminate cause
-
-
C2 MOTOR POWER DOWN Eliminate cause -
F1 ABS. BATT. LOW WARNIN - -
F2 PUSH WARNING - -
F4 I/O ERROR - -
*1. Indicates the alarm reset method.

*2. Indicates whether or not origin position is retained when alarm occurred. ( : Not retained)
*3. Power must be turned off and then back on when using CC-Link or DeviceNet.
6-2 Chapter 6 Troubleshooting

6.4 Alarms: Possible causes and actions

■ Message alarms 1
No. Message Meaning Possible Cause Action
Attempt was made to Enter data within
02 DATA ERROR Data setting error enter data that exceeded the specified
the specified range. range.
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
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
Positioning operation was

data.
Positioning
7
NO POINT Point data is not
43 attempted by specifying operation must
DATA registered.
unregistered point data. be performed
using registered
point data.
Positioning operation Adjust the target
SOFTLIMIT Software limit attempted to move to a position so that it
44
OVER was exceeded. point exceeding the soft is within the soft
limits. limits.
Operation was attempted
while /LOCK was off. Release the
Interlock was
45 INTERLOCK interlock and then
activated. /LOCK was turned off start operation.
during operation.
Operation stop Stop command was input during Resume
46 STOP KEY
was input. operation using PC or HT1. operation.
Correct the
Push operation was
problem to
47 PUSH MISTAKE Failed to push judged a "failed to push"
cancel the "failed
error.
to push" error.


5 minutes or more elapsed
1 after return-to-origin
occurred. Correct the
Failed to detect environment
48 ORG. MISTAKE origin at return- Origin sensor avoidance related to the
to-origin width (250mm) was return-to-origin
exceeded with the origin operation.
sensor remaining ON (when
2 Serial
using sensor format).
Replace the
Communication cable is
communication communication
defective.
error occurred cable.
SERIAL COMM.
49 between
ERR. Replace the
controller and Communication device
communication
3 communication
device.
failed.
device.
■ Error alarms (internal causes)

4 Power supply voltage too low.
Momentary power outage
Drop in control (below 50% of specified
AC POWER Check the power
81 power supply input voltage) occurred
DOWN supply.
voltage. for more than 40ms.
5 Power supply does not

have sufficient capacity.
Robot I/O cable is not Connect the robot
securely connected. I/O cable correctly.
Robot I/O cable broke or Replace the robot
Error occurred failed. I/O cable.
6 82
ENCODER during data
Wrong combination of
Connect the
ERROR exchange with correct controller to
controller and robot.
position detector. a matching robot.
Position detector failed. Replace the motor.
Position detection circuit Replace the
7 failed.
Phases U, V and W in the
controller.
Replace the
Excessive motor cable are shorted. motor cable.
84 IPM ERROR current flow was
Motor failed. Replace the motor.
detected.
Motor drive circuit failed. Replace the controller.
Temperature Ambient temperature is Check the ambient
protection level above 40˚C. condition.
85 OVERHEAT
(90˚C) was Replace the
exceeded. Thermal sensor failed.
controller.


Reduce the load.
Rated current was
exceeded.
Set the payload
correctly.
1
Lower the duty cycle.
Overload Robot drive system Check the
86 OVERLOAD detection level collided with some objects. operation pattern.
was exceeded. Supply the brake
Electromagnetic brake is
not working.
power correctly.
Replace the brake.
2
Make correct
Wrong robot setting
robot setting.
Main power supply voltage Check the power
87 OVERVOLTAGE
Overvoltage
protection level
exceeded the specified range.
Regenerative unit (RGT) is
supply.
Connect the regenerative 3
(420V) was not securely connected. unit correctly.
exceeded. Regenerative unit (RGT) Replace the
connection cable broke or failed. connection cable.
Power supply Main power supply voltage does Check the power
88 LOW VOLTAGE
voltage dropped
below the low
not reach the specified value. supply. 4
voltage detection Replace the
Controller failed.
level (180V). controller.
Robot drive unit collided Check the
with some objects. operation pattern.
Position deviation
Motor cable is not
securely connected.
Connect the motor
cable correctly.
5
POSITION
89 overflow level
ERROR Motor cable broke or Replace the
was exceeded.
failed. motor cable.
Make correct
Wrong robot setting
Current Robot drive unit collided

robot setting.
Check the
6
higher than with some objects. operation pattern.
8E OVERCURRENT the allowable Phases U, V and W in the Replace the
current flow was motor cable are shorted. motor cable.
detected. Motor failed. Replace the motor.
Motor cable is disconnected.

Connect the motor 7
cable correctly.
MOTOR Motor current Motor cable broke or failed. Replace the motor cable.
8F CURRENT does not follow
ERR. up on command. Motor failed. Replace the motor.
Make correct
Wrong robot setting
robot setting.
Cancel the alarm.
Communication
If the alarm
INT. COMM. error occurred CPU peripheral circuits
91 occurs again,
ERROR between CPU failed.
replace the
and I/O module.
controller.
Cancel the alarm.
If the alarm
CPU stopped
92 CPU ERROR CPU failed. occurs again,
due to error.
replace the
controller.


Turn the 24V I/O
24V I/O power supply was
1 turned off by NPN/PNP.
power supply back
on.
Cancel the alarm
(in the case of
I/O module NPN/PNP, after
93 I/O FAULT stopped due to turning the 24V I/O
2 error.
I/O module failed.
power supply back
on).
If the alarm
occurs again,
replace the
controller.
3 ■ Error alarms (external causes)

External safety circuit Ensure safety
functioned and emergency and then cancel
4 C1
EMERGENCY Emergency stop stop was activated. the safety circuit.
STOP was activated. Emergency stop wiring is Configure the
incomplete. safety circuit
Wiring is wrong. correctly.
External safety circuit Ensure safety
5 C2
MOTOR
POWER DOWN
Drop in main
power supply
functioned and main
power supply turned off.
and then cancel
the safety circuit.
voltage. Main power was not Supply the main
supplied. power correctly.
■ Warning alarms
6 No. Message Meaning Possible Cause Action
Absolute battery
ABS. BATTERY voltage dropped Absolute battery has worn Replace the
F1
LOW below the warning out or failed. absolute battery.
level (3.1V).
7 Push operation was
Correct the
PUSH Failed to push a problem to
F2 judged as a "failed to
WARNING workpiece. cancel the "failed
push" error.
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 Replace the
operating correctly. controller.

Chapter 7 Specifications
Contents 2
7.1 TS-S specifications 7-1

7.1.1 Basic specifications 7-1 3
7.1.2 Dimensional outlines 7-2
7.2 I/O interface specifications 7-3

7.2.1 NPN 7-3 4
7.2.2 PNP 7-3
7.2.3 CC-Link 7-3
7.2.4 DeviceNet 7-4
7
1
7
7.1 TS-S specifications

7.1.1 Basic specifications
1
Item TS-S
Controllable
TRANSERVO series
robot
Power capacity 70VA 2
Dimensions W30 H162 D82mm
Weight Approx. 0.2kg
Control power
24V DC ±10%
supply
Main power
24V DC ±10%
3
supply
Control method Closed loop vector control method
Position detection
Resolver (resolution: 20480 P/r)
method
Operation mode Positioning operation by specifying point number 4
Types of
Positioning, merge-positioning, push, and jog operations
operation
Number of points 255
1) Standard setting: Set speed and acceleration in percent of the
Point type setting respective maximum settings.
2) Custom setting: Set speed and acceleration in SI units.
5
Point teaching Manual data input (coordinate input), teaching, direct teaching
I/O interface Selectable from the following: NPN, PNP, CC-Link, DeviceNet.
Servo ON (SERVO), reset (RESET), start (START), interlock (/LOCK),
Input origin search (ORG), manual mode (MANUAL), jog motion - (JOG-), jog
motion +(JOG+), point number selection (PIN0 to PIN7)
6
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
Power for brake 24V DC ±10%, 300mA (prepared by user) 7
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
Chapter 7 Specifications 7-1

7.1.2 Dimensional outlines

1 5
2 30 (70) 82 25 φ4.5
3
152
162
152
4
R
5
5
5 4.5
6 (Units : mm)
7-2 Chapter 7 Specifications

7.2 I/O interface specifications

7.2.1 NPN 1
Input 16 points, 24V DC ± 10%, 5.1mA per point, positive common
Output 16 points, 24V DC ± 10%, 50mA per point, total 0.4A or less per 8 points, sink type
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 6
occur due to noise.
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.
7
Normal communication
Data destined for local station did not arrive.
Polling response is occurring, but CRC error occurred at
the refresh reception.
CRC error in data destined for local station.
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
Chapter 7 Specifications 7-3

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
3 Max. network current

consumption
40mA
Physical layer insulation

Present
present/absent
Support LED Module, Network
MAC ID setting 0 to 63
4 Baud rate setting 500K / 250K / 125Kbps
Predefined Master/Slave Connection Set : Group 2 Only server
Communication data Dynamic connection support (UCMM) : No
Explicit message divided transmission support : Yes
Total extension Branch line Total branch
5 length length line length
Network length 500Kbps 100m 6m or less / 39m or less
250Kbps 250m 6m or less / 78m or less
125Kbps 500m 6m or less / 156m or less
Number of input/output
6 points
Inputs: 6CH; Outputs: 6CH
■ LED indicators
Type Indication Status Description
7 OFF Power OFF status

Green ON Normal initializing completed
MS (module status)
Red blinking Incorrect communication setting
Red ON Hardware error
Power OFF status. Communication
OFF
error check in progress
Green ON Normal communication
NS (network status)
Green blinking Establishing communication status
Red blinking Connection time-out in progress
Red ON MAC ID type. Busoff error
7-4 Chapter 7 Specifications

HT1 Operation Guide
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
4. Editing the point data H-19

7
4.1 Point teaching H-19
4.1.1 Teaching playback H-19
4.1.2 Direct teaching H-22
4.2 Copying point data H-23
4.3 Deleting point data H-24 8
4.4 Displaying a list of point data H-25
5. Parameter setting H-26

5.1 Setting Run parameters
5.2 Setting I/O parameters
H-26
H-28
9
5.3 Setting Option parameters H-29
5.4 Setting Servo parameters H-30
6. Operating the robot H-31

6.1 Turning the servo on or off H-31
1
2 6.2 Origin search (return-to-origin) H-32

6.3 Operating the robot H-34
6.4 Resetting an alarm H-36
3 7. Monitor functions H-37

7.1 I/O monitor H-37
7.2 Status monitor H-38
7.3 Run monitor H-39
4 7.4 Alarm display

7.5 Warning display
H-40
H-41
7.6 Message display H-42
7.7 Alarm record display H-43
7.8 Information display H-44
5
8. Other functions H-45
8.1 Operation mode H-45
8.2 Setting mode H-46
6 8.2.1 Changing the display language H-46
9. Specifications H-47
9.1 Basic specifications H-47
7 9.2 Dimensional outlines

9.2.1 HT1
H-47
H-47
9.2.2 HT1-D H-48
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
HT1 Operation Guide H-1

1. What the HT1 does

1 The HT1 Handy Terminal is provided as an option for the TS series controller. When
connected to the controller, the HT1 allows you to perform the following operations
and checks.
2 HT1 tasks With the HT1 you can: Refer to:
Set point data including "Run type",

Data editing Position", "Speed", "Push" and other 3.3
information.
Move the robot to a position and teach
Teaching 4.1
3 Point data
editing
that position to store it in point data.
4.2 to
Copy and deletion Copy or delete point data you created.
4.3
Display a list of point data in the point
List display 4.4
data number sequence.
4 Run parameters
Set parameters needed for robot
operation such as positioning and origin 5.1
search.
Parameter Set parameters for terminal pin
I/O parameters 5.2
setting assignments and I/O functions.
5 Option parameters
Set parameters for options such as
CC-Link.
5.3
Servo parameters Set parameters such as payload, etc. 5.4

Servo status Turn the servo on or off. 6.1
Origin search Return the robot to its origin position. 6.2
6 Robot
Positioning
Move the robot to position it at a
6.3
operation specified point.
Move the robot in jog mode or inching
Jog 4.1
mode with the Jog keys.
Display I/O signal status to or from host
7 I/O monitor
device.
7.1
Display internal status such as servo,

Status monitor 7.2
brake and emergency stop status.
Display information such as current
Display Run monitor 7.3
position and speed during operation.
8 function
Display recent alarms and warnings that
7.4 to
Alarm and warning have occurred. A past alarm history can
7.7
also be displayed.
Display the model numbers and specs
Other information 7.8
of the controller and robot being used.
9 Safety
Emergency stop
Immediately stop the robot movement if
1.2
functions needed in case of emergency.
Operation mode
Set the operation mode. 8.1
setup
Others
Select the LCD display language
Setting mode 8.2
(English/Japanese).
H-2 HT1 Operation Guide

1.1 HT1 panel layout

The HT1 consists of a LCD screen, data edit keys, run/stop keys, and emergency
stop button as shown below.
1
HT1 panel layout
• 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.

Rear view (HT1-D)
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.

1.2 Connecting to the external safety circuit (HT1-D)

Using the safety connector on the HT1-D allows configuring an external safety
circuit with the HT1-D emergency stop button or ENABLE switch.
1
■ HT1-D wiring diagram
15-pin D-sub connector (female)
(If not using the HT1-D
then connect the supplied
15-pin D-sub connector (male)
Safety connector
2
to this connector.)
External safety circuit Emergency stop button
(provided by customer) 1 1
2 2
3
3 3
4 4 ENABLE switch
5 5 (deadman switch)
6 6
7 7
8 8
The shorting wire between

•
•
•
• 4
pins 14 and 15 must be 14 14
shorter than 60mm.
15 15
Controller
9 9
6 6
5
COM1
connector
HT1-D
EXT connector
I/O connector HT1-D cable

• 15-pin D-sub connectors (supplied only with HT1-D)

Use these connectors with the emergency stop or ENABLE switch to configure an
1 external safety circuit.
15-pin D-sub connector (female: KS9-M532A-000)
Pin No.
1
2
2 ･
･
･
･
Attaching this connector directly to the safety connector
on the HT1-D enables the emergency stop button only.
･
･
･
14
15
3 15-pin D-sub connector (male: KS9-M532E-001)

Pin No.
1
2 If not using the HT1-D then attach this connector directly to
3 the 15-pin D-sub connector on the external safety circuit
4 4
･
･
so that the emergency stop circuit is shorted.
･
･
･
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.

2. Connecting or disconnecting the HT1

The HT1 can be connected or disconnected from the controller as needed 1
regardless of whether controller power is on or off.
· 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
2.1 Connecting to the controller
1 Connect the HT1 cable to the COM1 connector on the controller front
4
panel.
Connection
5
Communication connector (COM1) HT1
Align the arrow mark on the HT1

CLR FUNC
cable connector with the
rectangular mark of the COM1 6
connector (left of the connector
RUN STOP
PWR
ERR
as viewed from the front) and

insert the HT1 cable connector
L
straight into the COM1.
COM1
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 Turn on the power to the controller.

The initial screen (version display) appears for about 2 seconds and then the
1 MENU (main menu) screen appears.
(The same as when the HT1 is connected to the controller with the power turned
on.)
Initial screen and main menu screen
2 Menu NRM [01]

Point
Handy Terminal Operation
V1.01 Parameter
Monitor
Run mode
Connecting... Connection
3 Terminal
Initial screen Main menu screen

2.2 Disconnecting from the controller

The HT1 can be disconnected from the controller, regardless of whether the
controller power is on or off. Pull the HT1 cable connector straight outwards from
1
the COM1 connector on the controller.
Disconnection
2
PWR
ERR
L1
COM1
200V
3
N1 ROB
I/O
CHARGE
MOTOR
RGEN
I/O
Grip the connector body and pull it out.

4
Controller
Disconnecting the HT1 while the controller power is on, will trigger emergency stop 5
CAUTION and the robot servo will turn off.
• When not using the HT1

When not using the HT1, plug the dummy connector (supplied with the controller)
into the COM1 connector. 6
Dummy connector for COM1
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
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.
2 3.1 Operation key layout and functions

Operation key layout
4 CLR FUNC
Data edit keys
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.
7 Enable the entry you selected or changes you made.
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).

3. Basic operations
3.2 Screen configuration

• Main menu screen 1
On the main menu screen, the title "MENU" is displayed in the status area at the
top of the screen.
Selectable menus are displayed in the menu area. Nothing is displayed in the
comment area at the bottom of the screen.
To select a menu, use or to move the cursor to it, and press .
2
Operations can be selected and settings can be made while selecting the menus
displayed on the screen. (Refer to section 3.5, "Menu structure".)
Main menu screen
Menu NRM [01] Status area

3
Point
Operation
Parameter
Monitor Menu area
Run mode
Connection
Terminal 4
Comment area
Menu Select the menu to:

Point Perform point teaching or edit point data.
Turn the servo on or off, or return the robot to its origin, or perform
5
Operation
operation.
Parameter Edit parameters relating to operation and I/O settings.
Monitor Display I/O status, operation status, alarm history, etc.
Run mode
Connection
Switch between Normal mode, Monitor mode, and Debug mode.
This is not currently used.
6
Make adjustments (factory adjustments). This menu is usually grayed
Terminal
out and not available to users.

3. Basic operations
• Screen display example

Each screen consists of a status area, menu area, and comment area.
1 The display contents differ depending on the selected menu.
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.
5 "Run mode" display

Point teaching S=100% NRM [01] "Run mode" display
P 1
1. Run type ABS -
2. Position 100.00 mm
3. Speed 100 %
6 4. Accel.
5. Decel.
6. Push
100 %
100 %
100 %
Current pos. 128.00 mm
Abbreviation Run mode

7 NRM Normal mode
MON Monitor mode
DBG Debug mode
NRM S Normal mode (safety)
MON S Monitor mode (safety)
8 DBG S Debug mode (safety)
"Run mode" can be changed from the HT1. Refer to section 8.1, "Operation mode" for more
TIP details.

3. Basic operations
3.3 Starting to use the keys

You can operate the HT1 while selecting the displayed menus (Refer to section 3.5,
"Menu structure"). The following steps explain a basic HT1 key operation, showing
1
the procedure for setting point data.
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 .)
"Point" menu screen

Point
Point edit
Point teaching
NRM [01]
"Point" menu 4
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.
"Point edit" screen 7

Point edit NRM [01] ﾎﾟｲﾝﾄﾍﾝｼｭｳ
Point edit NRM [01]
P 1 Point number P 1 1
1. Run type ABS - row 1. Zone(-)
7. ｳﾝﾃﾝﾀｲﾌﾟ ABS
0.00 mm
-
2. Position 100.00 mm 2. Zone(+)
8. ｲﾁ 100.00
0.00 mm
8
3. Speedﾞ 100 % Displays 3. Near
9. ｿｸﾄﾞ width 100
1.00 mm
%
4. Accel. 100 % 4. ｶｿｸﾄﾞ
10.Jump 100
0 -
%
5. Decel. 100 % point data 5. ｹﾞﾝｿｸﾄﾞ
11.Flag 100
0 -
%
6. Push 100 % items 6. ｵｼﾂｹ
12.Call 100
0 -
%
Page 1 Page 2
9

3. Basic operations
3 Select the point number you want to edit.

There are 2 methods for selecting a point number.
1 1) Increment or decrement the point number
Pressing or will increment or decrement the point number. When "P1" is
displayed, pressing changes it to "P255". When "P255" is displayed,
pressing changes it to "P1".
2) Press FUNC to open the "Function" menu and select the point number.
2 1. On the "Function" menu, select "Select number".

The "Function" menu changes to the screen for selecting a point number. The
point number that first appears is the number that was selected when the
"Function" menu was opened.
2. Press or to move the edit cursor to the point number digit you want to
3 enter, and increment or decrement the number using

3. After entering the number, press .
or .
The cursor moves to "Yes".

4. Press to enable the setting.
The number you entered is then displayed in the point number row.
4 "Function" menu window

Point edit NRM [01] Point edit NRM [01]
P 1 P 1
1. Run typ Function ABS - Select number ABS -
1. Run typeｲﾌﾟ
Select number 2. Position P 2 100.00 mm
5
3. Speed Copy 100 % 3. Speed select OK? 100 %
4. Accel.Delete this 100 % 4. Accel 100 %
5. Decel.Delete all 100 % 5. Decel. Yes 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".
7 4 After selecting the point number, press .

The cursor moves to the data item area, allowing you to select a data item for the
selected point number.
Data edit screen
8 Point edit
P 2
NRM [01]
Point number row
Cursor moves to the data item area
1. Run type ABS -
2. Position 100.00 mm ("1. Run type").
3. Speed 100 %
4. Accel. 100 %
5. Decel. 100 %
6. Push 100 %
9
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 ).

3. Basic operations
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.
6 After selecting the data item, press .

This allows you to edit the selected data item. Data you can edit now appears
left-aligned as shown below.
2
When "Run type" is selected
Point edit NRM [01]
P 1
1. Run type ABS - Data for the selected item is 3
2. Position 100.00 mm left-aligned, showing it can be edited.
3. Speed 100 %
4. Accel. 100 %
5. Decel. 100 %
6. Push 100 %
ABS Selectable options for "Run type" are displayed here.
INC If there are 3 or more options, press or to 4
view them.
When "Position" is selected
Point edit NRM [01]
5
P 1
1. Run type ABS -
2. Position 100.00 mm Data for the selected item is left-aligned,
3. Speed 100 % showing it can be edited.
4. Accel. 100 %
5. Decel. 100 %
6. Push 100 %
FUNC.:change the sign Pressing FUNC toggles the plus and minus signs
for the numerical value.
6
· If "Run type" is not selected, then other data items are grayed out and cannot be edited.
When "Run type" is set for point data whose data is not defined, then the initial values will
TIP
be defined.
· For detailed information on each point data item, refer to the "Controller Guide", Chapter 3,
7
section 3.2, "Point data".
7 Set the selected data item.

There are 2 setting methods depending on the selected item: selective method and 8
direct entry method.
• In the selective method like "Run type", the selectable options are displayed in
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
at the rightmost digit of the numerical value. Set the numerical value by 9
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".

3. Basic operations
8 Set the other point data items.

Follow steps 5 to 7 to set the necessary data items.
1
Repeat steps 3 to 7 when setting data items for other point numbers.
NOTE
9 After editing the data, press CLR .

2 The cursor returns to the point number row. Pressing CLR returns to the "Point" menu
screen in step 1.

3. Basic operations
3.4 How to enter numbers

The HT1 has no number keys. Use and to enter numbers.
(1) When in number edit mode, the edit cursor appears at the rightmost digit of the number.
1
2 3 . 4 5
(2) To change the number at the specified digit (cursor position), press or . 2
Pressing increments the number, and pressing decrements the number.
2 3 . 4 6
3
2 3 . 4 4
(3) To move the edit cursor to other digits, press or . (If the number contains a
4
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.

3. Basic operations
3.5 Menu structure

1 Editing
Operation
Read only
P1 to P255 (During editing)
Point Edit 1. Run type Select number
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)
9. Near width Select number

Handy Terminal
V1.01 10. Jump Speed Edit
Connecting... 11. Flag Point list
12. Timer
4
Main menu Operation Servo status FUNC (when "Operation" screen is opened)
Menu NRM [01] Menu NRM [01]

Origin search
Point
Point
Operation Operation Run Select number
Parameter Parameter
Monitor Monitor Reset Speed Edit
5
Run mode Run mode
Connection Connection
Terminal Terminal Point list
Parameter Run parameter

I/O parameter
Setting Menu
Point
NRM [01]
Option parameter CC-Link DeviceNet

6
Operation
Parameter
Monitor
Run mode Servo parameter *Not displayed unless relevant
Connection
Terminal
options are installed.
Monitor I/O monitor

Status monitor
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
Connection *Not currently used.
RUN STOP
Menu NRM [01]
Point
Operation
Parameter
Monitor
Run mode
Connection
Terminal

4. Editing the point data

The procedure for editing point data is described in the previous section 3.3,
"Starting to use the keys", so please read it again. This section describes how to set
1
the position for point data using point teaching, as well as how to copy or delete the
point data you created.
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.
3
In either point teaching method, origin search (return-to-origin) must first be completed. (For
instructions on how to perform an origin search using the HT1, refer to section 6.2, "Origin
NOTE search (return-to-origin".)
Point teaching Description 4

This method moves the robot in manual operation to a desired
Teaching playback
position and obtains that position as point data.
This is basically the same as teaching playback, except that you
Direct teaching
move the robot by hand in an emergency stop state.
4.1.1 Teaching playback 5

In teaching playback, you move the robot in manual operation to a desired position
and obtain that position as a "Position" for point data. Follow these steps to perform
teaching playback.
The robot will now move, so use caution.

6
WARNING
1 On the main menu screen, select "Point".

The "Point" menu screen appears.
2 Move the cursor to "Point teaching" and press .

7
The "Point teaching screen appears.
The status area shows the speed (like "S=100%") at which the robot will move during teaching.
The menu area shows point data items.
The comment area shows the valid key functions and the current robot position.
8
Point NRM [01] Point teaching S=100% NRM [01]
Point edit P 1
Point teaching 1. Run type ABS -
3. Speed 100 %
9
4. Accel. 100 %
5. Decel. 100 %
6. Push 100 %
The displayed data items are the same as those shown on the "Point edit" screen, but
TIP cannot be changed here.

3 Select the point number to perform teaching.

To select the point number, use the same procedure as for point data editing. (Press
1 or to select the point number, or press FUNC to select it from the "Function" menu.)
4 Specify the speed to move the robot.

Specify the speed as described below, on the "Function" menu that appears when
2 you press FUNC .

1. Select "Change speed" and press .
The edit cursor then appears on the speed value.
Point teaching S=100% [01] Point teaching S=100% [01]

P 1 P 1
3 1. Run
2. Position
Function ABS -
100.00 mm
Select number
Change speed ABS -
1. Run typeﾟ
2. Position
Speed 100.00 mm
3. Speed Change speed 100 % 3. Speed S = 100 % 100 %
4. Accel.Point list 100 % 4. Accel.Change OK? 100 %
5. Decel. 100 % 5. Dece Yes 100 %
6. Push 100 % 6. Push No 100 %
RUN:Teaching, -/+:JOG RUN:Teaching, -/+:JOG
4
Current pos. 50.00 mm Current pos. 50.00 mm
2. Set the speed and press .

To set the speed, use the same procedure as for setting a point number.
The cursor then moves to "Yes" under the "Change OK?" message.
5 3. Press to enable the setting.

The speed you set is then displayed as "S=** %" in the status area.
Point teaching S=100% NRM [01]

P 1
1. Run Change speed ABS -
2. Positi 100.00 mm
6
Speed
3. Speed S = 80 % 100 %
4. Accel.Change OK? 100 %
5. Decel. Yes 100 %
6. Push No 100 %
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
appear during movement.
8
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 P 1
1. Run Jog ABS -
3. Speed 100 %
4. Accel. Running… 100 %
5. Decel 100 %
6. Push 100 %

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
ABS -
100.00 mm
P 1
1. Run type
2. Position
ABS -
128.00 mm
3
Teach
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 %
Current pos. 128.00 mm Current pos. 128.00 mm 4
Current robot position is entered here.
8 Perform teaching for other point data.

Specify the desired point number and repeat the above procedure. 5
9 After teaching the positions, press CLR .
This returns to the "Point" menu screen.

4.1.2 Direct teaching

Direct teaching is basically the same as teaching playback, except that you move
1 the robot by hand to a desired position in emergency stop.
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".
2 2 Press the emergency stop button.
3 Move the robot by hand to the target position.
3 Do not turn on the servo during direct teaching.

WARNING
4 Press RUN to teach the position.

4 A confirmation message then appears asking whether to teach the current position.
Press or to select "Yes" or "No", and then press .
Selecting "Yes" sets the current robot position in "Position" for point data. Selecting
"No" cancels the current position setting and returns to the previous screen.
5 Point teaching S=100% NRM [01]

P 1
P 1
1. Run type Teaching ABS - 1. Run type ABS -
2. Position
Teach 100.00 mm 2. Position 128.00 mm
3. Speed Current Pos.? 100 % 3. Speed 100 %
4. Accel. 100 % 4. Accel. 100 %
5. Decel. Yes 100 % 5. Decel. 100 %
6 6. Push No
Teaching, -/+:JOG
Current pos.
100 %
128.00 mm
6. Push
Current pos.
100 %
128.00 mm
Current robot position is entered here.
7 5 Perform teaching for other point data.

Specify the desired point number and repeat the above procedure.
6 After teaching the positions, press CLR .

This returns to the "Point" menu screen.
8

4.2 Copying point data

This section describes how to copy created point data to another point data number.
1
2 Move the cursor to "Point teaching" and press . 2

The "Point teaching" screen appears, showing the point data items in the menu area.
Point NRM [01] Point edit NRM [01]

Point edit P 1
2. Position
3. Speed
100.00
100
mm
%
3
4. Accel. 100 %
5. Decel. 100 %
6. Push 100 %
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 -
Select number 2. PositionFrom P 100.00
1 mm
3. Speed Copy
4. Accel.Delete this
100 %
100 %
3. Speed
4. Accel.
To
Copy OK?
P 2 100 %
100 % 6
5. Decel.Delete all 100 % 5. Decel. Yes 100 %
6. Push Point list 100 % 6. Push No 100 %
4 Specify the copy source and destination point numbers.

7
1. Use and to specify the copy source point number, and press .
The cursor then moves to the copy destination item.
2. Use and で to specify the copy destination point number, and press .
The cursor then moves to "Yes" under the confirmation message.
3. Press to copy the data.
8
The display then returns to the screen that was displayed before the "Function"
menu was opened. (The copy source point number is displayed.)
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 Deleting point data

1 This section describes how to delete created point data.
Deleted data cannot be restored, so be careful.

CAUTION
2 1 On the main menu screen, select "Point".

2 Move the cursor to "Point teaching" and press .

3 The "Point teaching" screen appears, showing the point data items in the menu area.

Point edit P 1
4 3. Speed
4. Accel.
5. Decel.
100
100
100
%
%
%
6. Push 100 %
5 3 Select the point number you want to delete.

To select the point number, use the same procedure as for point data editing.
(Press or to select the point number, or press FUNC to select it from the
"Function" menu.)
6 Point edit NRM [01] Point edit NRM [01]
P 9 P 1
1. Run typeﾌﾟ
Function ABS - Delete this ABS -
1. Run typeﾌ
Select number 2. Position 100.00 mm
Delete this?
3. Speed Copy 100 % 3. Speed 100 %
4. Accel.Delete this 100 % 4. Accel. 100 %
7 5. Decel.Delete all
6. Push Point list
100 %
100 %
5. Decel.
6. Push
Yes
No
100 %
100 %
4 Press FUNC to open the "Function" menu and select "Delete".

8 A confirmation message appears asking whether to delete data of the selected
point number.
If you select "Delete all", another confirmation message will appear asking whether
to delete all point data.
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.

4.4 Displaying a list of point data

You can display a list of point data. You can also make entries on the data edit
screen by selecting a point number from the displayed list.
1
2
2 Move the cursor to "Point edit" and press .
The "Point edit" screen opens showing the point data items in the menu area.

Point edit
Point teaching
P 1
1. Run type ABS -
3
3. Speed 100 %
4. Accel. 100 %
5. Decel. 100 %
6. Push 100 %
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.
Point edit NRM [01] Point list NRM [01]

P 1 No. Run type Pos.(mm)
6
1. Run type Function ABS - P 1 ABS 0.00
Select number P 2 ABSmerge 520.00
3. Speed Copy 100 % P 3 ABSpush 600.00
4. Accel.Delete this 100 % P 4
5. Decel.Delete all 100 % P 5 INC 20.00
6. Push Point list 100 % P 6
P 7
P 8
7
Point edit NRM [01]

P 1
1. Run type
2. Position
ABS
100.00
-
mm 8
3. Speed 100 %
4. Accel. 100 %
5. Decel. 100 %
6. Push 100 %
While a point number is selected, pressing enters the data edit screen for the
9
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".
2 CAUTION the robot is moving might cause problems with operation.
5.1 Setting Run parameters

This section describes how to set a Run parameter using "Soft limit (+)" as an
3 example.
Power must be turned off and then back on to enable changes made to Run parameters.
NOTE
4 1 On the main menu screen, select "Parameter".

The "Parameter" menu screen opens showing selectable parameter groups.
2 Move the cursor to "Run parameter" and press .

5 The currently set Run parameters are displayed.
Pressing or switches the parameter display page. When the cursor is on the
bottom row of the screen, pressing scrolls to the next page.
Parameter NRM [01] Run parameter NRM [01]

6 Run parameter
I/O parameter
Soft limit(-)
Soft limit(+)
0,00
150.00
mm
mm
Option parameter In-position 0.01 mm
Servo parameter Push mode 0 -
Push time 10 ms
Push speed 10.00 mm/s
Zone(-) 0.00 mm
7
3 Move the cursor to the parameter you want to change and press .
The value of the selected parameter can now be changed.
8 Run parameter NRM [01] [01]
Soft limit(-) 0.00 mm Soft limit(-) 0.00 mm
Soft limit(+) 150.00 mm Soft limit(+) 150.00 mm
In-position 0.01 mm In-position 0.01 mm
Push mode 0 - Push mode 0 -
Push time 10 ms Push time 10 ms
9 Push speed
Zone(-)
10.00
0.00
mm/s
mm
Push speed
Zone(-)
10.00
0.00
mm/s
mm

4 Change the parameter value.

For instructions on how to change numerical values, refer to section 3.4, "How to
enter numbers". 1
5 Press to enable the change.
The cursor returns to the previous state. If you want to set another Run parameter,
repeat steps 3 to 5.
2
6 Press CLR .
This returns to the "Parameter" menu screen.

5.2 Setting I/O parameters

1 This section describes how to set an I/O parameter using "OUT0 select" (terminal
assignment) as an example.
Power must be turned off and then back on to enable changes made to I/O parameters.
NOTE
2 1 On the main menu screen, select "Parameter".

2 Move the cursor to "I/O parameter" and press .

3 The currently set I/O parameters are displayed.
Pressing or switches the parameter display page. When the cursor is on the
bottom row of the screen, pressing scrolls to the next page.
4
Parameter NRM [01] I/O parameter [01]
Run parameter OUTO select ZONE -
I/O parameter OUT1 select NEAR -
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 -
POUT select AFTER - POUT select AFTER -
7 Alarm No.output
SERVO seguence
INVALID
EDGE
-
-
Alarm No.output INVALID
SERVO seguence EDGE
-
-
NONE
PZONE
4 Change the parameter.

8 Selectable options are displayed in the comment area. Use or to select the
desired option and press .
To change another I/O parameter, repeat steps 3 to 4.
9 5 Press CLR .

5.3 Setting Option parameters

The following example shows the option parameters setting method when using CC-
Link. The same setting method is used for DeviceNet.
1
Power must be turned off and then back on to enable changes made to Option parameters.
NOTE
1 On the main menu screen, select "Parameter". 2

2 Move the cursor to "Option parameter" and press .

The currently set Option parameters are displayed. 3
The display contents differ depending on the installed option.
Parameter NRM [01] Option parameter NRM [01]

Run parameter CC-Link INVALID -
I/O parameter Node 1 -
Option parameter
Servo parameter
Speed 10M bps 4
5
3 Move the cursor to "CC-Link" and press .
The CC-Link settings can now be changed.
Option parameter NRM [01]

CC-Link
Node
INVALID -
1 - 6
Speed 10M bps
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 .
9

5.4 Setting Servo parameters

1 This section describes how to set a Servo parameter using "Payload" as an example.
1 On the main menu screen, select "Parameter".

2 2 Move the cursor to "Servo parameter" and press .

The currently set Servo parameters are displayed.
Parameter NRM [01] Servo parameter NRM [01]

Run parameter Payload 1 10 Kg
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
3 Move the cursor to "Payload 1" and press .

5 The selected parameter can now be changed.
Servo parameter NRM [01]

Payload 1 10 Kg
Max. accel. 1 3.50 m/s2
6 Payload 2
Max. accel. 2
Stop mode
10 Kg
3.50 m/s2
CLOSED –
Stop mode time 200 ms
Stop current 30 %
7
4 Change the parameter value.
For instructions on how to change numerical values, refer to section 3.4, "How to
enter numbers".
8 5 Press to enable the change.

Use the same procedure to change "Payload 2" if needed.
6 Press CLR .
9 This returns to the "Parameter" menu screen.

6. Operating the robot

6.1 Turning the servo on or off 1
This section describes how to check the servo status or how to turn the servo on or
off. If the robot has a brake, the brake can also be engaged or released.
1 On the main menu screen, select "Operation" 2

The "Operation" menu screen appears showing selectable menu items.
2 Move the cursor to "Servo status" and press .

The servo on/off status is displayed. The brake status is also displayed if the robot
has a brake.
3
Operation NRM [01] Servo status NRM [01]
Servo status Servo ON
Origin search Brake FREE
Run
Reset 4
RUN:change the status
5
3 Press RUN to turn the servo on or off.
The servo turns on and off each time you press RUN .
The brake can be operated only when the servo is off.

NOTE 6
4 Press CLR .
This returns to the "Operation" screen.


1 To find the robot origin position, use the following procedure after making sure that
the servo is on.
Origin search cannot be performed unless the servo is on.

NOTE
2 The robot will now move, so use caution.

WARNING
1 On the main menu screen, select "Operation".

3 2 Move the cursor to "Origin Search" and press .
The "Origin Search" screen appears showing the origin search method and direction.
Operation NRM [01] Origin search NRM [01]

Servo status Method: TORQUE
4 Origin search
Run
Direction: CCW
Coordinates:Normal
Reset
RUN:Origin search start
5 Current pos. 128.00 mm Current pos. 128.00 mm
3 Ensure safety and press RUN to start an origin search.

The message "Running … " appears during origin search.
If you want to stop the origin search, press STOP .
6 Origin search NRM [01]
Method: TORQUE
Direction: CCW search
Origin
Coordinates:--
Running…
7
4 When origin search is complete, check the message.

8 The message "OK" and machine reference (Ref. = ** %) appear when the origin
search has ended successfully.
Origin search NRM [01]

Method: TORQUE
Direction: CCW search
Origin
9 Coordinates:
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 .
2
CLR
This returns to the "Origin Search" screen. Pressing CLR once more returns to the
"Operation" menu screen.

6.3 Operating the robot

1 This section describes how to position the robot using the HT1.
The robot will now move, so use caution.

WARNING
2 1 On the main menu screen, select "Operation".

2 Move the cursor to "Run" and press .

3 The "Run" screen opens showing a point number and point data items.
"S=**%" in the status area indicates a speed override for positioning operation.
(Refer to the "Controller Guide", Chapter 3, section 3.4, "Parameter data".)
Operation NRM [01] Run S=100% NRM [01]

Servo status P 1
4 Origin search
Run
1. Run type
2. Position
ABS -
185.00 mm
Reset 3. Speed 100 %
4. Accel. 100 %
5. Decel. 100 %
6. Push 100 %
RUN:positioning start
5
The displayed data items are the same as those shown on the "Point edit" screen, but cannot
TIP be edited here.
6 3 Specify the point number.

To specify the point number, use the same procedure as for point data editing.
(Press or to specify the point number, or press FUNC to select it from the
"Function" menu.)
7

4 Specify the speed.

If you want to change the speed, press FUNC to open the "Function" menu and specify
the speed as follows:
1. Select "Change speed" and press .
1
The edit cursor then appears at the speed value.
Point teaching S=100% [01] Point teaching S=100% [01]

P 1 P 1
1. Run
2. Position
Function
Select number
ABS -
100.00 mm
3. Spee Change speed 100 %
1. Run Change speed ABS -
2. Position
3. Spee
Speed 100.00 mm
S = 100 % 100 %
2
4. Accel.
Point list 100 % 4. Accel.
Change OK? 100 %
5. Decel. 100 % 5. Decel. Yes 100 %
6. Push 100 % 6. Push No 100 %
3
2. Specify the speed and press .
To specify the speed, use the same procedure as for setting a point number.
The cursor then moves to "Yes" under the "Change OK?" message.
3. Press to enable the setting.
The speed you specified is then displayed as "S=** %" in the status area. 4
Run S=100% NRM [01]
P 1
Change Speed ABS -
1. Run type
2. Positio
Speed 100.00 mm
3. Speed S = 80 % 100 %
4. Accel.
5. Decel.
Change OK?
Yes
100 %
100 % 5
6. Push No 100 %
5 Press RUN to start operation. 6

The robot starts moving to the position specified by the point data. The message
"Running… " appears during operation.
If you want to stop the operation, press STOP .
Run
P 1
S=80% NRM [01] 7
1. Run type Run ABS -
3. Speed 100 %
4. Accel. Running… 100 %
5. Decel. 100 %
6. Push
100 %
8
The robot slows down and stops after pressing STOP .

NOTE
9
6 To operate the robot using another point data, repeat steps 3 to 5.
7 When operation is complete, press CLR .

This returns to the "Operation" menu screen.

6.4 Resetting an alarm

1 If an alarm occurs during operation, the robot will immediately stop. After removing
the cause of the alarm, the operation can be resumed by reset.
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
2 Remove the cause of the alarm.

4
3 Press RUN to perform a reset.
The message "OK" appears when reset is complete.
5 Reset
Alarm:85 OVER LOAD
[01]
Reset
OK
6 RUN：Execute Reset
4 Press CLR .
This returns to the "Operation" menu screen.
7
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
after an overload alarm occurs.
9

7. Monitor functions
The HT1 has the following monitor functions that display various types of information 1
for checking operation and status.
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.
Alarm Displays up to 8 alarms that occurred most recently.
Warning Displays up to 8 warnings that occurred most recently.
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.
Monitor
Page 1
6
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:□
7
Warning PIN3:□ ORG:□ POUT3:□ OUT3:□
Message PIN4:□ /LOCK:■ POUT4:□ BUSY:□
Alarm records PIN5:□ START:□ POUT5:□ END:■
PIN6:□ RESET:□ POUT6:□ /ALM:■
PIN7:□ SERVO:■ POUT7:□ SRV-S:■
• The first page shows the ON/OFF

Page 2
I/O monitor NRM [01]
8
status of each I/O signal.
■:ON
= OFF, = ON IN: □□□□□□□□ OUT: □□□□□□□□
• On the second page, IN and OUT □□□□□□□□ □□■□□□■□
show bit addresses (byte units), and WIN: □□□□ h WOUT: □□□□ h
WIN and WOUT show hexadecimal
addresses (word units).
□□□□
□□□□
h
h
□□□□
□□□□
h
h
9
□□□□ h □□□□ h
3 Press CLR .
This returns to the "Monitor" menu screen.

7.2 Status monitor

1 1 On the main menu screen, select "Monitor".
2 Move the cursor to "Status monitor" and press .

2 The "Status monitor" screen opens. The meaning of each item is as follows:
= OFF, = ON
SRV-S : Servo status PZONE : Personal zone

BRAKE : Brake NEAR : Near width output
3 E-STOP : Emergency stop
LINK : Network link
TLM-S : Pushing status
ORG-S : Origin search status
ORGSEN : Origin sensor ZONE : Zone output
ZSTATUS : Linear Z phase MOVE : Moving
P-BLK : Main power outage WARN : Warning output
MANU-S : Manual mode status
4 Monitor NRM [01] Status monitor NRM [01]
I/O monitor SRV-S: ■ PZONE: □
Status monitor BRAKE: □ NEAR: □
Run monitor E-STOP: ■ TLM-S: □
Alarm LINK: ■ ORG-S: ■
Warning ORGSEN: □ ZONE: ■
5 Message
Alarm records
ZSTATUS:
P-BLK:
□
□
MOVE:
WARN:
■
□
MANU-S: □
3 Press .
6
CLR

7.3 Run monitor

1
2 Move the cursor to "Run monitor" and press .

The "Run monitor" screen opens. Pressing displays the second page. Pressing 2
returns to the first page. The meaning of each item is as follows:
Current pos. : Current robot position (mm)

Current speed : Robot operation speed (mm/s)
Run status
Run point
: Operation status
: Operation point 3
Current value : Electrical current (%)
Load factor : Load factor (%)
Voltage : Voltage (V)
Temperature : Temperature in controller (˚C)
Distance
Total time
: Total distance robot has moved (km)
: Total time robot has run (d:h:m) 4
Page 1
Monitor NRM [01] Run monitor NRM [01]
I/O monitor Current pos. 629.16 mm
Status monitor
Run monitor
Alarm
Current speed
Run status
Run point
1120.70
ABS
4
mm/s
-
-
5
Warning Current value -30 %
Message Load factor 20 %
Alarm records Voltage 280.0 V
Temperature 40 °C
Distance 12.000 km
6
Page 2
Run monitor NRM [01]
Total Time 12:15:34 d:h:m
8
3 Press CLR .

7.4 Alarm display

2 Move the cursor to "Alarm" and press .

2 The "Alarm" screen opens showing up to 8 alarms that have occurred most recently.
If 9 or more alarms have occurred, they will be automatically deleted starting from
the oldest alarm.
Monitor NRM [01] Alarm NRM [01]

3 I/O monitor
Status monitor
No. factor
01: 85 OVER LOAD
Run monitor 02: 87 OVER HEAT
Alarm 03:
Warning 04:
Message 05:
Alarm records 06:
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 .

7.5 Warning display

1
2 Move the cursor to "Warning" and press .

The "Warning" screen opens showing up to 8 warnings that have occurred most recently. 2
If 9 or more warnings have occurred, they will be automatically deleted starting
from the oldest warning.
Monitor NRM [01] Warning NRM [01]

I/O monitor
Status monitor
No. factor
01: F1 ABS.Low battery 3
Run monitor 02:
Alarm 03:
Warning 04:
Message 05:
Alarm records 06:
4
07:
08:
For details on warnings and corrective actions, refer to the "Controller Guide", Chapter 6,
5
3 Press CLR .

7.6 Message display

2 Move the cursor to "Message" and press .

2 The "Message" screen opens showing 1 cause (alarm) of the operation stop that
occurred most recently.
Monitor NRM [01] Message NRM [01]

I/O monitor No. factor
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,
5 3 Press CLR .

7.7 Alarm record display

1
2 Move the cursor to "Alarm records" and press .

The "Alarm records" screen opens showing up to 50 past alarms that occurred. 2
Pressing or moves the cursor up or down. Pressing or switches the
page.
Monitor NRM [01]

3
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.
Alarm records NRM [01]

No.01
Factor
Time
Position
86
12:15:34
356.12
-
d:h:m
mm
6
Speed 3.21 mm/s
Run status ABS -
Run point 25 -
Current value 50 %
Voltage 280.0 V
7
4 Press CLR to return to the "Alarm records" screen.
Pressing CLR once more returns to the "Monitor" menu screen.
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.
To delete the alarm records: 9

1. On the "Alarm records" screen, press FUNC .
2. When the "Function" menu appears showing "Delete all", press .
3. When a confirmation message appears, select "Yes" and press .

7.8 Information display

1 The model names and specifications of the controller and robot being used can be
displayed.

2 Pressing
Press
displays the second page. (Pressing returns to the first page.)
to display the "Information" on the second page.
2 Move the cursor to "Information" and press .

The "Information" screen opens showing the model names and specifications of the
3 controller and robot being used.
Monitor NRM [01] Information NRM [01]

Information Controller TS-S -
Option CC-Link -
Version -
4
1.00.00
PNT table type NORMAL -
Robot SS04 -
Stroke 250.000 mm
Max. speed 1200.00 mm/s
Max. payload 20 kg
5 3 Press CLR .

6

8. Other functions
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)
Monitor mode Only

HT1 can be used only in Monitor mode,
so editing data or operating the robot is
3
monitor
Permitted impossible.
mode
Monitor mode (safety) Robot can be operated only from host
permitted
device by I/O control.
All HT1 operations can be performed, but
Debug mode
Permitted Prohibited
host device I/O controls are prohibited.
Use this mode when point-teaching or
4
Debug mode (safety) making adjustments using the HT1 within
a safety enclosure.
*Robot operation is limited to low speed in the "safety" modes listed above.
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.
6
1 On the main menu screen, select "Run mode".
The "Run mode" menu screen appears. An asterisk (*) is displayed to the left of the
currently selected mode.
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)
Terminal
I/O :Run OK
8
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 all modes other than the currently selected mode are grayed out and cannot be selected.
. Otherwise,
9
2 Move the cursor to the mode you want to set, and press .
3 Press CLR .
This returns to the main menu screen.

8. Other functions
8.2 Setting mode

1 When you start the HT1 while holding down FUNC , the "Settings" screen appears
as shown below. From this screen, you can change the LCD display language
(Japanese/English) if needed.
"Settings" 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
1 Move the cursor to "Language" and press .

6 The language can now be changed. Selectable options are shown in the comment
area.
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. Specifications
9.1 Basic specifications 1
Item Specifications
W88 H191 D45 mm
Outer dimensions
(not including emergency stop button)
Basic
Weight
HT1 : 260kg (without cable), 400g (including cable)
HT1-D : 300kg (without cable), 440g (including
2
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
3-position switch
(HT1-D only)
Safety connector
15-pin D-sub connector (male)
4
(HT1-D only)
Ambient operating
0 to +40˚C / 35 to 85% RH (no condensation)
Ambient Temperature/humidity
conditions Ambient storage
-10 to +65˚C / 10 to 85% RH (no condensation)
Others
Temperature/humidity
Compatible
All TS series models
5
controllers
9.2 Dimensional outlines

9.2.1 HT1 6
88 63
8
191
CLR FUNC
RUN STOP
9
20
45
53 (Units: mm)

9. Specifications
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

Communication Command Guide
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
2. Communication command lists C-3
3. Communication command description C-5

3.1 Robot operation commands C-5
Positioning operation (START) C-5
Operation stop (STOP) C-5
Return-to-origin (ORG) C-6
JOG movement (JOG+, JOG-) C-6
Inching movement (INCH+, INCH-) C-7
3.2 Status change commands C-8
Servo status change (SRVO) C-8
Brake status change (BRK) C-8
Reset (RESET) C-8
3.3 Edit commands C-9
Point data writing 1 (M, P, S, AC, DC, Q, ZL, ZH, N, J, F, T) C-9
Point data writing 2 (P_, S_, AC_, DC_, Q_) C-10
Current position teaching (TEACH) C-11
Point data copying (COPY) C-11
Point data deleting (DEL) C-12
Parameter data writing (K) C-12
Automatic node number setting (SETID) C-13
3.4 Query commands C-14
Point data reading (?M, ?P, ?S, ?AC, ?DC, ?Q, ?ZL, ?ZH, ?N, ?J, ?F, ?T) C-14
Parameter data reading (?K) C-15
Status data reading (?D) C-16
Input/output information reading (?IN, ?INB, ?OUT, ?OUTB) C-17
Word input/output information reading (?WIN, ?WOUT) C-18
Option information reading (?OPT, ?OPTB) C-19
Alarm/warning information reading (?ALM, ?WARN) C-20
1
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
Communication Command Guide C-1

1. Communication specifications
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
3 Flow control None
1.2 Communication command specifications

The TS series robot controller provides ASCII character string communication
commands to communicate with an external communication device.
The communication commands are classified into four categories as follows.
Type Contents
Robot operation command Operates or stops the robot.
Status change command Changes the servo or brake status.
Edit command Writes the parameter or point data.
Query command Reads the data or robot status.
The basic format of the communication command is as follows.
Data transmission format
@<command>[<data number/status>][.n] c/r l/f
@<command>[<data number>][.n]=<setting value> c/r l/f
n: Node number
Data response format
OK.n c/r l/f
NG.n=<alarm number>c/r l/f
RUN.n c/r l/f
END.n c/r l/f
n: Node number
• All communication commands consist of an ASCII character string that begins
with a start code '@'(=40h) and ends with c/r(=0Dh)l/f(=0Ah).
• 'n' (node number) is used for the daisy chain connection. One host communication
device communicates with one robot controller, or with all the daisy-chained
controllers (up to 16 controllers).
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.
C-2 Communication Command Guide

2. Communication command lists

■ Robot operation commands 1
Command Format Command Description
START @START<point number>[.<n>] Positioning operation
STOP @STOP[.<n>] Operation stop
ORG
JOG+
@ORG[.<n>]
@JOG+[.<n>]
Return-to-origin
JOG movement (+ direction)
2
JOG- @JOG-[.<n>] JOG movement (- direction)
INCH+ @INCH+[.<n>] Inching movement (+ direction)
INCH- @INCH-[.<n>] Inching movement (- direction)
■ Status change commands

n: Node number
3
SRVO @SRVO<1 or 0>[.<n>] Servo status change
BRK @BRK<1 or 0>[.<n>] Brake status change
RESET @RESET[.<n>] Reset
n: Node number
■ Edit commands
M @M<point number>[.<n>]=<setting value> Operation type
P @P<point number>[.<n>]=<setting value>
Position (Data is not saved
P_ @P_<point number>[.<n>]=<setting value>
into the memory.)
S @S<point number>[.<n>]=<setting value>
Speed (Data is not saved
S_ @S_<point number>[.<n>]=<setting value>
into the memory.)
AC @AC<point number>[.<n>]=<setting value>
Acceleration (Data is not saved
AC_ @AC_<point number>[.<n>]=<setting value>
into the memory.)
DC @DC<point number>[.<n>]=<setting value> Point
data Deceleration (Data is not saved
DC_ @DC_<point number>[.<n>]=<setting value> writing
into the memory.)
Q @Q<point number>[.<n>]=<setting value>
Push (Data is not saved
Q_ @Q_<point number>[.<n>]=<setting value>
into the memory.)
ZL @ZL<point number>[.<n>]=<setting value> Zone (-)
ZH @ZH<point number>[.<n>]=<setting value> Zone (+)
N @N<point number>[.<n>]=<setting value> Near width
J @J<point number>[.<n>]=<setting value> Jump
F @F<point number>[.<n>]=<setting value> Flag
T @T<point number>[.<n>]=<setting value> Timer
TEACH @TEACH<point number>[.<n>] Current position teaching
COPY @COPY<point number 1>-<point number 2>[.<n>] Point data copying
DEL @DEL<point number 1>[-<point number 2>][.<n>] Point data deleting
K @K<parameter number>[.<n>]=<setting value> Parameter data writing
Automatic node number setting
SETID @SETID
(when daisy chain function is used)
n: Node number

■ Query commands
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

3. Communication command description

3.1 Robot operation commands
1
The robot operation commands are intended to operate or stop the robot.
Positioning operation (START)

Format @START<point number>[.<node number>] c/r l/f
2
Meaning Starts the positioning operation of specified point data.
Function
This command has the same function as the start (START) input.
Setting 3
<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
@START1.1 c/r l/f Positioning operation of point data 1
RUN.1 c/r l/f Starts the positioning operation.
END.1 c/r l/f Normal end
RUN.1 c/r l/f Accepts the positioning operation and starts it.
NG.1=44 c/r l/f Abnormal end
(Operation is stopped by alarm "44: SOFTLIMIT
OVER".)
Operation stop (STOP)

Format @STOP[.<node number>] c/r l/f
Meaning Stops the operation.
Function
Stops the operation/movement of the robot.
When the operation/movement is stopped by this command, the robot
decelerates, and then stops.
Setting
RUN.1 c/r l/f Starts the positioning operation.
@STOP.1 c/r l/f Stop
NG.1=46 c/r l/f Abnormal end
(Operation is stopped by alarm " 46: STOP KEY " .)

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
3 Transmission Response
@ORG.1 c/r l/f Return-to-origin operation
RUN.1 c/r l/f Starts the return-to-origin.
JOG movement (JOG+, JOG-)

@JOG+[.<node number>] c/r l/f
Format
@JOG-[.<node number>] c/r l/f
Meaning Performs the JOG movement in the + or - direction.
Function
Performs the JOG movement of the robot in a specified direction (+/-).
• 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
@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

Inching movement (INCH+, INCH-)

Format
@INCH+[.<node number>] c/r l/f
@INCH-[.<node number>] c/r l/f 1
Meaning Performs the inching movement in the + or - direction.
Function
Performs the inching movement of the robot in a specified direction (+/-).
• 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
@INCH-.1 c/r l/f Inching movement in the - direction.
RUN.1 c/r l/f Starts the inching movement.

3.2 Status change commands

The status change commands are intended to change the servo or brake status.
1 Servo status change (SRVO)
Format @SRVO<1 or 0>[.<node number>] c/r l/f
Meaning Changes the servo status.
Function
2 This command has the same function as the servo ON (SERVO) input.
Setting
<1 or 0> : 1 Servo ON, 0 Servo OFF
3 as by daisy chain connection.)
@SRVO1.1 c/r l/f Servo ON
OK.1 c/r l/f Normal end
Brake status change (BRK)

Format @BRK<1 or 0>[.<node number>] c/r l/f
Meaning Changes the brake status.
Function
Changes the brake status. Note that the brake status cannot be changed while
the servo is ON.
Setting
<1 or 0> : 1 Brake ON, 0 Brake release
@BRK0.1 c/r l/f Brake release
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
@RESET.1 c/r l/f Reset

3.3 Edit commands

The edit commands are intended to write data, such as parameter or point.
1
Point data writing 1 (M, P, S, AC, DC, Q, ZL, ZH, N, J, F, T)
@M<point number>[.<node number>]=<setting value> c/r l/f
@P<point number>[.<node number>]=<setting value> c/r l/f
@S<point number>[.<node number>]=<setting value> c/r l/f
@AC<point number>[.<node number>]=<setting value> c/r l/f
@DC<point number>[.<node number>]=<setting value> c/r l/f
2
@Q<point number>[.<node number>]=<setting value> c/r l/f
Format
@ZL<point number>[.<node number>]=<setting value> c/r l/f
@ZH<point number>[.<node number>]=<setting value> c/r l/f
@N<point number>[.<node number>]=<setting value> c/r l/f
@J<point number>[.<node number>]=<setting value> c/r l/f
@F<point number>[.<node number>]=<setting value> c/r l/f
3
@T<point number>[.<node number>]=<setting value> c/r l/f
Writes the setting value to the individual data of a specified point, and saves
Meaning
it into the memory.
Function
Writes the setting value to the individual data of a specified point. The written data is
saved into the memory (EEPROM).
The command may vary depending on the type of individual data. For details, see
the table below.
■ Command and data type
Unit
Command Type
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
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
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.
@AC1.1=100 c/r l/f Writes "100" to "Acceleration" of point data 1.
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.
Point data writing 2 (P_, S_, AC_, DC_, Q_)

@P_<point number>[.<node number>]=<setting value> c/r l/f
@S_<point number>[.<node number>]=<setting value> c/r l/f
Format @AC_<point number>[.<node number>]=<setting value> c/r l/f
@DC_<point number>[.<node number>]=<setting value> c/r l/f
@Q_<point number>[.<node number>]=<setting value> c/r l/f
Meaning Writes the setting value to the individual data of a specified point.
Function
Writes the setting value to the individual data of a specified point. The written
data is not saved into the memory.
The command may vary depending on the type of individual data. For details,
see the table below.
Unit
Command Type
P_ Position 0.01mm
S_ Speed % 0.01mm/s
AC_ Acceleration % 0.01m/s 2
DC_ Deceleration %
Q_ Push %
• 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
1
@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.
@AC_1.1=100 c/r l/f Writes "100" to "Acceleration" of point data 1.
@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
@TEACH2.1 c/r l/f Teaches the current position to point data 2.
Point data copying (COPY)

Format @COPY<point number 1>-<point number 2>[.<node number>] c/r l/f
Meaning Copies the data of the point number 1 to the data of the point number 2.
Function
Copies the data of point number 1 to point number 2.
Setting
< Point number 1> Copy source number
< Point number 2> Copy destination number
@COPY2-3.1 c/r l/f Copies point data 2 to point data 3.

Point data deleting (DEL)

Format @DEL<point number 1>[-<point number 2>][.<n>] c/r l/f
1 Meaning Deletes specified point data.
Function
Deletes the point data from point number 1 to point number 2.
Setting
2 <Point number> : 1 to 255
< Point number 1> Delete start number
< Point number 2> Delete end number
When the number of point data you want to delete is "1",
< point number 2> can be omitted.
@DEL1.1 c/r l/f Deletes point data 1.
@DEL1-3.1 c/r l/f Deletes point data 1 to 3.
Parameter data writing (K)

Format @K<parameter number>[.<node number>]=<setting value> c/r l/f
Meaning Writes the setting value to a specified parameter.
Function
Writes the setting value to a specified parameter.
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
For parameter number details, see Chapter 3, section 3.4 "Parameter data" of the Controller
TIP Guide.
@K10.1=50 c/r l/f Writes "50" to parameter data K10 (JOG speed).

Automatic node number setting (SETID)

Format
Meaning
@SETID
Sets node numbers for daisy-chained controllers. 1
Function
Sets the node numbers to the daisy-chained controllers from "1" in order of
distance starting from the controller nearest to the host communication device.
• The maximum number of controllers that can be daisy-chained is 16. If 17 or more

2
controllers are connected, they may not operate properly.
• Make sure that there are no daisy-chained controllers having the same node number
WARNING before sending other command.
If there are controllers with the same node number, perform automatic node number
setting again. If you do not do this, the system may not operate properly.
3
Communication example (16 daisy-chained controllers)
@SETID c/r l/f Performs automatic node number setting
OK.1 c/r l/f Node number 1 setting end
:
If you receive several identical responses, there is a duplication of node number.

[Example] When reading the node number (K38) from all the nodes by query command
@?K38 c/r l/f K38.1=1 c/r l/f
OK.1 c/r l/f
CAUTION K38.2=2 c/r l/f
OK.2 c/r l/f
Duplication
K38.2=2 c/r l/f
OK.2 c/r l/f
In this case, be sure to perform automatic node number setting.

3.4 Query commands

1 The query commands are intended to read the data or robot status.
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.
Unit
Command Type
?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
including the decimal point.
Setting

@?P1.1 c/r l/f Reads "Position" of point data 1. 1
P1.1=30000 c/r l/f Receives the data.
@?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
For parameter number details, see Chapter 3, section 3.4 "Parameter data" of the Controller
TIP Guide.
@?K10.1 c/r l/f Reads parameter data K10 (JOG speed).
K10.1=50 c/r l/f Receives the data.

Status data reading (?D)
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.)
3 ■ Data number and type of status information

Number Name Unit Contents
0 Current position 0.01mm Current position information
1 Current speed 0.01mm/s Actual speed information
2 Electrical current % Percentage of electrical current to rated current
6 Position command 0.01mm Position command information currently running
7 Speed command 0.01mm/s Speed command information currently running
9 Voltage value 0.1V Motor drive voltage
10 Temperature ℃ Temperature of motor drive module
Current point Point number of positioning operation
13 -
number currently running
Overload error occurs if the load rate
14 Load rate %
reaches 100% .
Machine reference
(See the explanation on Machine reference
Machine
17 % stated in Chapter 5, section 5.2.2 "Origin
reference
point and coordinates relationship" of the
Controller Guide.)
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
@?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.

Input/output information reading (?IN, ?INB, ?OUT, ?OUTB)

Input information
@?IN<input number>[.<node number>] c/r l/f 1
@?INB<input bit number ＞ [.<node number>] c/r l/f
Format
Output information
@?OUT<output number>[.<node number>] c/r l/f
@?OUTB<output bit number>[.<node number>] c/r l/f
Reads specified input/output information.
Meaning
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
Input/output Input/output Input Output

Number Bit Number Symbol Meaning Symbol Meaning
0 PIN0 POUT0
1 PIN1 POUT1
2 PIN2 POUT2
3 PIN3 Point number POUT3
Point number output
4 PIN4 selection POUT4
5 PIN5 POUT5
6 PIN6 POUT6
7 PIN7 POUT7
JOG movement
8 JOG+ OUT0
1 (+ direction)
JOG movement
9 JOG- OUT1 Control output
(- direction)
10 MANUAL Manual mode OUT2
11 ORG Return-to-origin OUT3
Operation is being
12 /LOCK Interlock BUSY
executed.
Operation
13 START Start END
completion
14 RESET Reset /ALM Alarm
15 SERVO Servo ON SRV-S Servo status
@?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
@?OUTB0.1 c/r l/f Reads the information on output bit 0.
OUTB0.1=1 c/r l/f Receives the data.

Word input/output information reading (?WIN, ?WOUT)
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.)
command is sent to all the controllers connected with
the host device, as by daisy chain connection.)
■ Input/output information type
Input/output Input Output

Number Symbol Meaning Symbol Meaning
0 WIN0 Execution command WOUT0 Status
1 WIN1 WOUT1
2 WIN2 Command option WOUT2 Command response
3 WIN3 WOUT3
@?WIN1.1 c/r l/f Reads the information on word input 1 (WIN1).
WIN1.1=4096 c/r l/f Receives the data. 4069 = 1000h

Option information reading (?OPT, ?OPTB)

Format
@?OPT<option number>[.<node number>] c/r l/f
@?OPTB<option bit number>[.<node number>] c/r l/f 1
Meaning Reads specified option information.
Function
Reads the option information, such as zone output or emergency stop status.
The read-out results of the option information in decimal notation are returned.
2
Setting
<Option number> : 0 to 2 (See the table below.)
<Option bit number> : 0 to 31 (See the table below.)
command is sent to all the controllers connected with the 3
host device, as by daisy chain connection.)
■ Option information type
Option Bit
Option Number Symbol Meaning
Number
0 PZONE Individual zone output
1 NEAR Near width output
2 TLM-S Push status
3 ORG-S Return-to-origin completion status
4 ZONE Zone output
5 MOVE Moving
Option 6 WARN Warning output (1: Warning occurs.)
Information 1 7 MANU-S Manual mode status
1
8 BUSY Operation is being executed.
9 END Operation completion
10 ALM Alarm (1: Alarm status)
0
11 SRV-S Servo status
12 LOCK Interlock (1: Interlock status)
13 BRAKE Brake status
14 E-STOP Emergency stop status (1: Emergency stop)
15 - (Reserved.)
16 - (Reserved.)
17 - (Reserved.)
Option 18 - (Reserved.)
2
Information 2 19 LINK Network link status
20 ORGSEN Origin sensor signal input
21 to 31 - (Reserved.)
When option number 0 is specified, all of the 32-bit information are output at once in binary
NOTE notation.
@?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
@?OPTB11.1 c/r l/f Reads option information bit 11.
OPTB11.1=1 c/r l/f SRV-S = 1 (Servo ON status)

Alarm/warning information reading (?ALM, ?WARN)
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)
@?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.
@?WARN1.1 c/r l/f Reads the warning information.
OK.1 c/r l/f Normal end (No warning occurs.)

Daisy Chain Guide
Contents 2
Introduction D-1
3
1. Installation and wiring D-2
1.1 Installation D-2
1.2 Wiring D-3
2. Node number setting D-6

2.1 Automatic node number assignment function D-6
2.1.1 Performing automatic node number assignment D-6
2.1.2 When controllers with same node number exist on network D-8
2.2 Switching of controllers D-10
3. Writing and transferring saved and newly made data D-12

3.1 Writing data to controller D-12
3.2 Transferring data to controller D-15
1
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
Daisy Chain Guide D-1

1. Installation and wiring

1 1.1 Installation
• To use the daisy chain connection, be sure to install an external emergency stop circuit.
• Be sure to be ready to perform external emergency stop before you operate a daisy-
2 chained controller from the Handy Terminal or a computer.

• Only the controller directly connected with the Handy Terminal can be emergency-
stopped with the emergency stop button on the Handy Terminal. Make sure to install
WARNING external emergency stop circuits because other controllers cannot be stopped with
the emergency stop button on the Handy Terminal. (refer to the "Controller Guide",
Chapter 2, section 2.7, "Configuring an emergency stop circuit".)
3 • Do not connect more than 16 controllers in a daisy chain.
This may cause unpredictable operation and incorrect communication.
System configuration diagram
Handy Personal Computer

Terminal
HT1
TS-Manager
or TS-Manager
CLR FUNC
RUN STOP
Controller Controller Controller Controller

PWR
SRV
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
chain cable chain cable

N1 ROB N1 ROB N1 ROB
I/O I/O I/O
CHARGE CHARGE CHARGE
MOTOR MOTOR MOTOR
I/O I/O ES1 I/O

ES2
ES-
MP24V
RGEN RGEN CP24V RGEN
0V
Daisy chain connection (up to 16 controllers)
• 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.
CAUTION • The daisy chain function can be used with the HT1 with the software version 1.09
onwards.
For details about the installation of the controller, refer to the "Controller Guide", Chapter 2
NOTE "Installation and wiring".
D-2 Daisy Chain Guide

1.2 Wiring
Be sure to shut off the control power to the controller before connecting the 1
WARNING controllers in a daisy chain.
To connect controllers in a daisy chain, the YAMAHA-specified daisy chain

connection cables must be used. The number of connection cables required is the
number of controllers to be connected plus one.
Also a computer with the TS-Manager software installed and one communication 2
cable for connecting the computer with the controller are required.
For details regarding the connection of personal computer and Handy Terminal, refer to“2.5
3
NOTE Connecting the communication unit”in Chapter 2.
To connect with your personal computer, follow the steps below.
1 Connect the communication cable to the COM1 port on the controller

that will be connected with the computer.
Communication cable connection
COM1 port
PWR
SRV
COM2
COM1
ROB
I/O
I/O
ES1
ES2
ES-
MP24V
CP24V
0V
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
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.
Connecting a daisy chain cable
COM2 port
PWR
SRV
COM2
COM1
ROB
I/O
I/O
ES1
ES2
ES-
MP24V
CP24V
0V
Daisy chain cable
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.

2. Node number setting

1 2.1 Automatic node number assignment function
Each daisy-chained controller can be distinguished from each other by being
assigned a "node number".
2 "Automatic node number assignment function" (hereafter referred to as "Automatic

node number assignment") of the support software TS-Manager is used to set node
numbers. They can also be set using the "Automatic node number setting (SETID)"
command, one of the communication commands.
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".)
• To use the TS-Manager, it is required to install the TS-Manager software on your

computer.
• The daisy chain function is not supported by the TS-Manager software with the
CAUTION version 1.2.0 and earlier. Make sure to use the software with the later version than
1.2.0. If the TS-Manager with the earlier version is already installed on your
computer, first uninstall the software, and then install the new one.
For details on the basic operations of the TS-Manager, refer to the TS-Manager manual and
NOTE its online help.
2.1.1 Performing automatic node number assignment

To perform automatic node number assignment, follow the steps below.
1 Start the TS-Manager.
TS-Manager icon

2 Select "Automatic Node Number Assignment" command from the "Tools"

menu in the main window.
1
Selecting "Automatic Node Number Assignment"
3 Select the COM port to which the communication cable is connected, 3

and click the [OK] button.
"Automatic Node Number Assignment" window
4 Check the cautions and click the [OK] button.

Automatic node number assignment starts.
Confirmation message for starting automatic node number assignment

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.
"Automatic node number assignment completed" message
3 Node numbers after the

assignment
Controller model name
6 Check the message and click the [OK] button.

The node numbers will be assigned to the controller from "1" in order of distance starting
NOTE from the controller nearest to the computer.
2.1.2 When controllers with same node number exist on network

If you try to connect a computer with controllers when there exist some computers
having the same node number in the daisy chain, the window for automatically
assigning node numbers will appear. Follow the steps below to perform automatic
node number assignment.
1 From the "File" menu, select "New" – "Connection...".

The "New Connection" dialog box appears.
You can also click the [New Connection] button on the toolbar.
TIP
"New Connection" dialog box
2 Select the COM port to which the communication cable is connected,

and click the [OK] button.

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.
"Automatic node number assignment completed" message
Node numbers after the Controller model name

assignment
6 The screen changes and the computer is connected to the controller

with the node number 1.
The node number for the displayed controller appears next to the controller model
name on the controller tree.
Controller tree
Communicating with TS-X

controller with node number
01 and showing its information

2.2 Switching of controllers

1 By performing "Switch Controller", you can check and edit the information of the
daisy-chained controllers from TS-Manager.
1 From the "File" menu, select "New" – "Connection...".

The "New Connection" dialog box appears.
2 You can also click the [New Connection] button on the toolbar.
TIP
2 Select the COM port and click the [OK] button.

3 3 Click "Switch Controller" on the controller toolbar.
Controller toolbar "Switch Controller"
4 "Switch Controller" window appears.

The node number, controller name, and user specified name of the currently
connected controller are displayed. An asterisk (*) appears at the head of the
controller whose data is currently displayed.
"Switch Controller" window
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.
6 The screen changes and the computer is connected to the controller

with the node number 1. 2
The node number appears next to the controller model name on the controller tree.
Controller tree showing selected controller
Switched to the controller

with node number "3"

3. Writing and transferring saved and newly made data

1 This section describes how to write or transfer data from a daisy-chained controller
to an unconnected controller by using the TS-Manager.
• 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.
3 3.1 Writing data to controller
1 From the "Controller" menu, select "Write Data to Controller...".

The "Write Data to Controller" dialog box appears.
You can also click the [Write] button on the toolbar.

TIP
Writing data to controller

2 Select the COM port to be connected to the controller, and click the
[OK] button.
1
"Write Data to Controller" window
3 "Node Select" window appears.

Select a target controller for transferring data in this window.
"Node Select" window
Selecting controller with node number "5"
4 Click the [OK] button.

If there is a possibility that all the controllers are not displayed, click the [Research]
button.
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.
Transfer confirmation message due to robot name mismatch
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.
5 When the message appears asking whether to execute data transfer,

click the [OK] button.
Check the data name and target controller.
To stop data transfer, click the [Cancel] button.
"Data transfer confirmation" message
6 Data transfer starts.
7 When the message appears stating the transfer has been completed,
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.)
"Data transfer completed" message

3.2 Transferring data to controller

1 From the "File" menu, select "Transfer" - "PC to Controller..." command. 1
Transferring data to controller
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.
"Data Transfer [PC to Controller]" window
3 The "Open" window appears.

"Open" window

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.
"Data Transfer [PC to Controller]" window
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.
6 "Switch Controller" window appears.

Select a target controller for transferring data in this window.
"Node Select" window
Selecting controller with node number "5"

7 Click the [OK] button.

If there is a possibility that all the controllers are not displayed, click the [Research]
button. 1
window, clicking the [OK] button will start the assignment. If you do not require automatic
NOTE
node number assignment, click the [Cancel] button. 2
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
to continue data transfer. Click the [Yes] button to continue data transfer.
3
Transfer confirmation message due to robot name mismatch
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.
"Data transfer cancelled" message due to controller name mismatch
8 To perform data transfer, change the Run Mode to the Debug Mode.
Click the [Yes] button to perform data transfer.
Mode change (Normal Mode to Debug Mode) confirmation dialog box

9 When the message appears asking whether to execute data transfer,

1 Check the data name and target controller.
To stop data transfer, click the [Cancel] button.
"Data transfer confirmation" message
3
0 Data transfer starts.
q When the message appears stating the transfer has been completed,
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.)
"Data transfer completed" message

Index
Contents
Index (Controller) 1
Index (HT1) 3
Index (Controller) Installation conditions .........................................2-2
Installation method ..............................................2-1
I/O interface specifications..................................7-3
A NPN ..........................................................................7-3
Alarm PNP ..........................................................................7-3
List ............................................................................6-2 I/O signal list .........................................................4-6
Possible causes and actions ....................................6-3 I/O specifications
Recording function ...................................................6-1 CC-Link type .............................................................4-2
Alarm groups ............................................................6-1 Details ......................................................................4-7
Alarm No. output function .................................5-38 DeviceNet type .........................................................4-4
B NPN and PNP type ...................................................4-1
Basic specifications .............................................7-1 M

C MANUAL mode ...................................................5-24
CC-Link..................................................................7-3 O
CE marking ............................................................. iv Operation modes ................................................5-36
Changing the payload ........................................5-38 Operation procedure ............................................5-1
Communication command description ............. C-5 Origin search ........................................................5-4
Edit commands ........................................................ C-9
P
Query commands .................................................. C-14
Parameter data .....................................................3-9
Robot operation commands .................................... C-5
I/O parameters .......................................................3-10
Status change commands ....................................... C-8
Option parameters ..................................................3-10
Communication specifications .......................... C-2
Parameter details ...................................................3-12
Communication command specifications ................ C-2
RUN parameters ......................................................3-9
Communication parameter specifications ............... C-2
Servo parameters ................................................... 3-11
Connecting
Part names and functions
Configuring an emergency stop circuit ...................2-12
LED (CC-Link) ..........................................................1-2
I/O signals .............................................................. 2-11
LED (DeviceNet) ......................................................1-2
I/O unit ....................................................................2-14
Main body .................................................................1-1
Robot ........................................................................2-6
Point data ..............................................................3-2
Connecting the communication unit
Custom setting type ..................................................3-4
Communication device .............................................2-9
Details ......................................................................3-5
Dummy connector ..................................................2-10
Standard setting type ...............................................3-3
HT1...........................................................................2-8
Positioning operation ..........................................5-7
D
R
Daisy chain
Remote commands ............................................5-27
Automatic node number assignment function ......... D-6
Parameter data reading ..........................................5-35
Switching of controllers ......................................... D-10
Parameter data writing ...........................................5-34
Data overview .......................................................3-1
Point data reading ..................................................5-28
DeviceNet ..............................................................7-4
Point data writing ....................................................5-28
Dimensional outlines ...........................................7-2
Query......................................................................5-27
I Special codes .........................................................5-29
Installation and operation sequence ..................1-4 Status .....................................................................5-29
Index 1
Return-to-origin ....................................................5-4
S
Safety alert symbols and signal words ................ iii
Safety cautions ....................................................... vi
Soft limit function ...............................................5-37
W
Warranty .................................................................. xi
Wiring
Connecting the robot ................................................2-6
Power supply connection .........................................2-3
Z
Zone output function .........................................5-37
2 Index
Index (HT1) Setting Run parameters ........................................ H-26
Setting Servo parameters ...................................... H-30
B R
Resetting an alarm ............................................ H-36
Basic specifications .......................................... H-47
Return-to-origin ................................................. H-32
C
S
Connecting to the controller .............................. H-7
Screen configuration ........................................ H-11
D
Setting mode
Dimensional outlines ........................................ H-47
Changing the display language ............................. H-46
HT1........................................................................ H-47
Starting to use the keys .................................... H-13
HT1-D .................................................................... H-48
T
Disconnecting from the controller..................... H-9
Turning the servo on or off ............................... H-31
E
W
Editing the point data
Copying point data ................................................ H-23 What the HT1 does .............................................. H-2
Deleting point data ................................................ H-24
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
Setting Option parameters .................................... H-29
Index 3
Revision record
Manual version Issue date Description

Ver. 2.01 Oct. 2009 Modifications were made in Dimensional outlines. Explanation about
length of shorting wire was added in HT1-D wiring diagram, etc.
Ver. 2.02 Dec.2009 Some explanations were changed or added in the section "CE
Marking". Alarms (49, 91, 92, 93) were added. Some clerical
errors were corrected, etc.
Ver. 3.00 Aug. 2010 Section on "Communication Command Guide" was added.
Descriptions of remote commands (Parameter writing, Parameter
reading) were added. Explanations on installation location was
added. Some descriptions were changed or added regarding
addition of SR type. "Message display" was added to monitor
functions of the H1. Some clerical errors were corrected, etc.
Ver. 4.00 Jan. 2011 The section on "Daisy Chain Guide" was added. Automatic
node number setting (SETID) was added to the communication
commands. Cautions about the Stop mode were added. The
description regarding "Warranty" was changed. Clerical error
corrections, etc.
Ver. 4.01 May 2011 Addition of parameters (speed switch function, switched speed)
and I/O signal (SPD), etc.
User's Manual
Robot Controller TS-S

May 2011
Ver. 4.01
This manual is based on Ver. 4.01 of Japanese manual.
© YAMAHA MOTOR CO., LTD.

IM Operations
All rights reserved. No part of this publication may be reproduced in
any form without the permission of YAMAHA MOTOR CO., LTD.
Information furnished by YAMAHA in this manual is believed to be
reliable. However, no responsibility is assumed for possible
inaccuracies or omissions. If you find any part unclear in this manual,
please contact YAMAHA or YAMAHA sales representatives.

User's Manual: Yamaha Single-Axis Robot Controller

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User's Manual: Yamaha Single-Axis Robot Controller

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YAMAHA SINGLE-AXIS ROBOT CONTROLLER

YAMAHA MOTOR CO., LTD.

About this manual

Contains the handling cautions related to the

Explains the controller functions, as well as the

Explains the procedures for using the HT1

Be sure to read this section before writing the data,

Safety alert symbols and signal words

"DANGER" indicates an imminently hazardous situation which, if not avoided, will

"WARNING" indicates a potentially hazardous situation which, if not avoided, could

"CAUTION" indicates a potentially hazardous situation which, if not avoided, could

■ Applicable EC Directives and their related standards

■ Cautions regarding the official language of EU countries

3. EMC countermeasure example

AC/DC MP24V ROB I/O Single-axis robot

Power connector External safety circuit

AC/DC converter JWS100-24: made by TDK Lambda

Always turn the main power breaker OFF and establish an

The controller and robot were designed as general-

For safety purposes, be sure to install an "emergency

Do not use in environments which are subject

Do not use in environments which are exposed to

Do not use in flammable or explosive environments.

Provide ample space to ensure that tasks (teaching,

Secure the equipment firmly to a non-flammable

Install in a well ventilated site with ample space

• Wiring and connections

Always shut off the power to the controller before

When connecting cables, use care to avoid subjecting

Handle cables with care to avoid damaging them.

Be sure that cable connectors and terminals are fully

Securely ground the power terminal block's ground

• Operation and handling

The controller and the HT1 should be operated only

Set the payload, acceleration, and deceleration to

Do not enter the robot's movement range while power

• Operation and handling

Do not remove the controller or HT1 covers, and do

Do not touch or operate the controller or HT1 with wet

Immediately turn off the power if abnormal odors,

• Maintenance and inspection

Perform maintenance and inspection tasks only when

Shut off the power to the controller before performing

Save the controller's internal data to an external

Do not use solvents such as thinner, benzene, or

Do not use a hard or pointed object to operate the

When disposing of this product, it must be handled as

Chapter 2 Installation and wiring

2.4 Connecting the robot 2-6

Chapter 3 Data setting

3.3 Point data details 3-5

Chapter 4 I/O signal functions

4.2 I/O signal list 4-6

5.2 Origin search (return-to-origin) 5-4

5.3 Positioning operation 5-7

5.4 MANUAL mode 5-24

5.5 Remote commands 5-27

5.6 Operation modes 5-36

7.2 I/O interface specifications 7-3

HT1 Operation Guide

2. Connecting or disconnecting the HT1 H-7

3. Basic operations H-10

4. Editing the point data H-19