454 ca
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OFF signal zone
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se ea “N each “positionin Zone be N3 TS-SH Output patternOutput Zone output “Near width” output WI Position and speed data designations and positioning command are transmitted in the batch mode.
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t info monito de ag rent to sion t tput sition lt s N0 then inue
ve WI nt cces Main · Inpu · Po · Cur · Vo · Ou Command co su withou set, Mo Direct command positioning Full range functions monitor of Full The TS-Manager developed exclusively for the TS series not only does data write, edit, backup tasks and parameter settings but also comes loaded with cycle-time, simulator, and monitor functions of all types. A run-distance monitor for maintenance use is provided as a standard unit feature. Design emphasizes easy, operation. user-friendly “Direct positioning command” is provided that performs the positioning operation by specifying the position and speed data directly for the remote command. The positioning data can be handled by the control unit and the positioning operation can be performed by one command. The programming of the control unit can be constructed simply.
Merge operation Merge operation 4 5
t h
poin widt
r P1
. in lerating d ea P1 ce ie position “N t
de N to positioning. r position l s te specif et
af curren
ce e equa ts an th e mplete
e targ Decelerates and then pushes ar co st th dist anc Moves a specified distance from the current position d g from percentage units (%) s rom an dist
Current position f by a ve ta )” a at (N Mo Pushin just da
INC (incremental) operation Pushing after decelerating Description
s ve
P1 relati
Position mplete CE compliance CE co a preset P1 d
g at position an
t et ushin Specifies stop mode and others. Specifies the waiting (delay) timeafter completion. positioning Specifies operation pattern such as ABS, INC, positioning, push, and point-to-point link. Specifies position or distance to move. operation. during speed maximum Specifies operation. during acceleration Specifies operation during deceleration Specifies (Percentage of acceleration) Specifies motor current limitation during operation. pushing Specifies upper and lower limits of “personal zone” for each point data. Specifies position margin zone where “near width” output should turn on. Specifies next movement destination after positioning or linked destination for point-to-point operation. poin targ
e e p th e.
Moves to a specified coordinate position. TS seriesTS Pushes at a fixed thrust to origin s whil s forc e ve ve
Speed th
Mo push Mo positioning. to Timer Flag Run type Position Speed Accel. Decel. Push Zone (-) Zone (+) width Near Jump Setting items Setting Setting item Normal operation
ABS (absolute) operation Pushing operation 1 2 3 4 5 6 7 8 9 11 12 10 Maximum acceleration setting auto Main operation patterns On the TS series, the maximum acceleration and output is motor the of span servicefinely the life account into taking set by the guide for each robot model and payload. This eliminates worryany about setting the acceleration too high mistake. by Acceleration is a critical parameter that determines how long the robot can continue operating (or service life). In worst cases, setting the acceleration too high may cause the robot to breakdown after a short time. Note:Acceleration and deceleration can be set in easy-to-understand (standard setup) or in SI units (custom setup) which make it easy to calculate the cycle time. Settings such as acceleration, deceleration, zone output range, and position margin zone can be set for each point. Different operations can be easily specifiedby combining these settings with the above operation patterns. Detailedpoint data each can for be set Robot positioner Robot 3 2
1 TS-S2/TS-SH/TS-X/TS-P
Features TS TS series are positioner type controllers that only performs point trace. No program is needed. Operation is simple. After setting point data, specify the point number START signal and from enter a host controller such as a PLC. Positioning or pushing operation then begins. Single axis
Compact Linear motor Cartesian SCARA Pick & place iVY/ 438 single-axis robots Single-axis robots single-axis robots robots robots robots Robot Pulse string Robot Electric APPLICATIONTRANSERVO FLIP-X PHASER XY-X YK-X YP-X CLEAN CONTROLLERINFORMATION positioner driver controller gripper Option Compact Linear motor Cartesian SCARA Pick & place iVY/ single-axis robots Single-axis robots single-axis robots robots robots robots Robot Pulse string Robot Electric APPLICATIONTRANSERVO FLIP-X PHASER XY-X YK-X YP-X CLEAN CONTROLLERINFORMATION positioner driver controller gripper Option 439 R20 Note 2 R10 With battery None
Battery (Incrementalmodel) (Absolutemodel) B: N: R5 .
(5) (5) B14H TM TM B14 n Selection B10 Input/Output DN: DeviceNet NP: NPN PN: PNP CC: CC-Link GW: GW: Withno I/O board EP:EtherNet/IP N18 / N18D N15 / N15D Host unit (Applicable to field network) LCD monitor (4) (4) L: With LCD No entry:None F20N Daisy chain connectio (3) (3) C20 F20 / Up to 16 controllers (6) (6) GF17XL Regenerative unit No entry:None R: WithRGT RGU-2With R:
TS-S2/TS-SH/TS-X/TS-P C17L F17L / MF75/75D (3) (3) C17 F17 / CC-Link 1 board. reduced to 4 boards are Field network GF14XL Only one network board manages up to 4 units Only one network Power capacity NEW HT1 or MF30/30D TS-Manager (2) (2) Driver: Power-supply voltage/ C14H 210: 200V / 200W 220: 200V / 400 to 600W 105: 100V / 100W more less 100V / 200W110: 205: 200V / 100W more less F14H/ (1) (1) C14 F14 / Battery can only be selected for TS-X. (Not provided for TS-P). TS-X/TS-P (FLIP-X / PHASER)
(1) (1) Controller C10 F10 / MF20/20D TSX: TS-X TSX: TS-P TSP: Note 2. C8LH F8LH / Note 1 C8L F8L / MF15/15D With battery None
Battery C8 F8 / (Incrementalmodel) (Absolutemodel) B: N:
(2) (2) T9H TM TM (1) (1) T9 MF7/7D I/O TS-P TS-P 4 CC-Link boards are needed. C6L T6L / CC: CC-Link GW: GW: Withno I/O board NP: NPN NP: PNP PN: DN: DeviceNet DN: EP:EtherNet/IP C5LH T5LH / H TS-X H TS-X MR12/12D C4LH T4LH / Type ) 105 210 220 110 205 220 110 205 210 105 TS-S TS-S S: Sensor No entry: Standard Network board is required for each controller. Network board is required Conventional TS-X TS-P R (RGT) R (RGU-2 R (RGT) No entry (None) No No entry (None) No Gateway function” reduces function” the networkGateway cost - - Battery can only be selected for TS-SH. (Not provided for TS-S2). Daisy chain function chain Daisy “ TS-S2 This function allows monitoring the various data design and operation status of any controller connected via daisy chain from one PC or handy terminal. TS-S2 One controller installed on the field network board manages upconnection. to This fourdoes not I/Orequire any interfacesexcess devices and throughensures the controlthe in daisythe same chain way as one board is installed into one unit while reducing the network cost. TS-X / TS-P specification selection table Ordering method TS-X TS-S2 / TS-SH (TRANSERVO)
Regenerative unit is needed if using in a perpendicular position and movement stroke is 700mmRegenerative or more. unit is needed if using in a perpendicular position. Regenerative unit is needed if using at maximum speeds exceeding 1000mm per second. Regenerative unit is needed if using at maximum speeds exceeding 1250mm per second. Regenerative unit is needed if using at maximum speeds exceeding 750mm per second. Regenerative unit is needed if using in a perpendicular position, using at maximum speeds exceeding 1000mm per second, or if using high leads (40).
TS-P
7 6 Robot positioner Regenera unit tive Regenera unit tive Power supply voltage / Current sensor Power supply voltage / Current sensor SH: TS-SHSH: S2: TS-S2S2:
Some specifications are automatically determinedby the robot model. Note 1.
Instruction manuals can be downloaded from our company website. Please use the following for more detailed information. detailed for more following use the Please website. our company from can be downloaded manuals Instruction http://global.yamaha-motor.com/business/robot/ (1) (2) (3) (4) (5) (6) TS-X220 / TS-P220 Approx. 1.1kg Approx. 1400VA W70 × D131mm × H162 Note 1 2 2 TS-SH
TM TM 200V input AC 600VA TS-X210 / TS-P210 EtherNet/IP
, , EtherNet/IP TM TM Approx. 0.3kg Approx. W30 × D123mm H162 × Absolute / Incremental 3.5A (Rating) 6.5A (Max.) Resolver with multi-turn absolute function TS-X / TS-P 400VA TS-X205 / TS-P205 Single phase AC200 to 230V 50/60Hz +/-10% Single phase AC200 to 230V 50/60Hz +/-10% TS-S2 600VA TS-X110 / TS-P110 / TS-X110 Set speed and acceleration in percent of the respective maximum settings. Set speed and acceleration in SI units. Set speed and acceleration in percent of the respective maximum settings. Set speed and acceleration in SI units. 100V input AC Approx. 0.2kg Approx. Manual data input (coordinates input) , Teaching, Direct teaching Single-axis TS-X: Single-axis robot FLIP-X series TS-P: Linear motor single-axis robot PHASER series 400VA Manual data input (coordinates input), Teaching, Directteaching W30 × D82mm H162 × 20480 pulses/rev. or 4096 pulses/rev. depending on the robot Incremental DC24V +/-10% DC24V +/-10% Position detection error, power module error, temperature error, overload, overvoltage, low voltage,position excessive deviation, overcurrent, motor current error IP20 255 points Standard(1) setting: Custom(2) setting: Selectable from the following: CC-Link, NPN, PNP, DeviceNet Servo ON (SERVO), reset (RESET), start (START), interlock (/LOCK) origin search (ORG), manual mode (MANUAL), jog motion - (JOG-), jog motion + (JOG+), Point number selection (PIN0 to PIN7) Servo status (SRV-S), alarm (/ALM), operation end (END), operation in-progress (BUSY), control outputs (OUT0 Point to 3), number output 0 to 7 (POUT0 to POUT7) RS-232C 1CH DC24V 300mA +/-10% (prepared the by customer) HT1-DHT1, (with enable switch) TS-Manager TS-X105 / TS-P105 W58 × D131mm × H162 0.9kg Approx. Closed loop vector control method I/O point tracing (Positioning operation specifying by point number) / Remote command operations jog and push, merge-positioning, Positioning, TS-X: Resolver with multi-rotation absolute function TS-P: Magnetic type linear scale TS-X: 16384 pulses/rev. or 20480 pulses/rev. depending m on the robot TS-P: 1μ TS-X: Absolute / Incremental TS-P: Incremental / Semi-absolute (2) Custom(2) setting: Selectable from the following: CC-Link, NPN, PNP, DeviceNet HT1-DHT1, (with enable switch) TS-Manager Position detection error, temperature error, overload, overvoltage, low voltage, excessive positionovercurrent, deviation, motor current error, motor cable faulty wiring, Excitation power failure error Closed loop vector control method I/O point tracing (Positioning operation specifying by point number) / Remote command operations jog and push, merge-positioning, Positioning, Resolver 255 points Standard(1) setting: Single-axis TRANSERVO series 2.5A (Rating) 4.5A (Max.) Servo ON (SERVO), reset (RESET), start (START), interlock (/LOCK) origin search (ORG), manual mode (MANUAL), jog motion - (JOG-), jog motion + (JOG+), Point number selection (PIN0 to PIN7) Servo status (SRV-S), alarm (/ALM), operation end (END), operation in-progress (BUSY), control outputs (OUT0 Point to 3), number output 0 to 7 (POUT0 to POUT7) RS-232C 1CH Emergency stop input, emergency stop contact output system: (1 When the is HT1 used.) Emergency stop input, main power input ready output, emergency stop contact output system: (1 When the is HT1 used.) 0°C to 40°C, 35% to 85%RH (non-condensing) to 65°C,-10°C 10% to 85%RH (non-condensing) Indoor location not exposed to direct sunlight. No corrosive , flammable gases, oil mist, or dust particles All XYZ directions to 57Hz 10 unidirectional amplitude 0.075mm 57 to 150Hz 9.8m/s Single phase 50/60Hz +/-10% AC100 to 115V Single phase 50/60Hz +/-10% AC100 to 115V 0°C to 40°C, 35% to 85%RH (non-condensing) to 65°C,-10°C 10% to 85%RH (non-condensing) Indoor location not exposed to direct sunlight. No corrosive , flammable gases, oil mist, or dust particles All XYZ directions to 57Hz 10 unidirectional amplitude 0.075mm 57 to 150Hz 9.8m/s Model Model Control power supply Motor power supply Motor power supply Control power supply
Weight Point teaching method Number of controllable axes robots Controllable capacity Power Point teaching method Dimensions Resolution Origin search method
Protective structure Protective functions Handy terminal Handy Operatingtemperature Operating / humidity Input power supply Point type setting I/O interface Input Output Externalcommunications Power supply for brake Safety circuit Support software for PC Number of points Control method Control Dimensions Weight Operating method types Operation Position detection method Resolution Origin search method Driver model Protective functions Support software for PC Operating temperature / Operating humidity Handy terminal Handy I/O interface Points Operating method types Operation Position detection method Point type setting Input power supply method Control Item Number of controllable axes Controllable robots Controllable consumptionCurrent Input Output Externalcommunications Safety circuit Item Storage temperature / Storage humidity Atmosphere Anti-vibration Storage temperature/ Storage humidity Storage temperature/ Storage Atmosphere Anti-vibration
TS-X / TS-P basic specifications TS-S2 / TS-SH basic specifications
External input/output External Points Axis control Axis Basic specifications Basic Points Axis control Axis Basic specifications Basic External input/output External General specifications General General specifications General Options Options
Note The 1. excitation power failure error is a protection function that is available only in TS-SH. TS-S2/TS-SH/TS-X/TS-P
Compact Linear motor Cartesian SCARA Pick & place iVY/ 440 single-axis robots Single-axis robots single-axis robots robots robots robots Robot Pulse string Robot Electric APPLICATIONTRANSERVO FLIP-X PHASER XY-X YK-X YP-X CLEAN CONTROLLERINFORMATION positioner driver controller gripper Option Compact Linear motor Cartesian SCARA Pick & place iVY/ single-axis robots Single-axis robots single-axis robots robots robots robots Robot Pulse string Robot Electric APPLICATIONTRANSERVO FLIP-X PHASER XY-X YK-X YP-X CLEAN CONTROLLERINFORMATION positioner driver controller gripper Option
152
5 441 R R 4.5 ϕ
25
4.5
162 (12)
20mm or more of DIN rail DIN of
80.7: Center position position Center 80.7:
width is 35mm. is width R
PW ERR
4
2 15
5 20mm or more 20mm or more
35.2: DIN rail rail DIN 35.2: B
O RO I/ 2 5 15 COM1 200V I/O R CHARGE L L1 N1 N ϕ5.4 RGEN MOTO ϕ5.4
R R 4
157 5.4 5.4 53 53 20mm or more
123
TS-P
2 16
) (8 2 16 ) (8
4 4 290
265 250 RGU-2 5.5 131 131 40 16 TS-X/TS-P (70) ) TS-SH
30 7 16
7 16 10mm or more (90) (90) 20mm or more 20mm or more ERR PWR 2 EXT connector Dimensions 0V ES- ES1 ES2 COM CP24V MP24V
EXT connector
ROB I/O I/O COM1
KCA-M4107-2A (Including accessory) W40 × H250 × D157mm 0.9kg Approx. 380V or more Approx. 360V or less Cable for connection with controller (300mm) 152 5 R 10mm or more 25 4.5 ϕ4.5
58 162 58 (220) 70 TS-S2/TS-SH/TS-X/TS-P 5 82 Also, always use the dedicated cable when connecting the controller. Always leave an empty space (gap of about 20mm) between this unit and the adjacent controller. TS-S2/TS-SH TS-X/TS-P TS-X/TS-P (105/110/205/210 Basic specifications
Regenerative unit RGU-2 152 5 Dimensions Weight voltage Regenerative Item Model Regenerative stop voltage Accessory Note. Note. (70)
TS-S2 1 TS-S2 / TS-SHTS-X / / TS-P dimensions 30
or TM t 120 when purchased. TM (ROB I/O) 2 (Notincluding installation stay) Robot I/O connector (ROB I/O) Dedicated connector for robot I/O signals such as position signals and origin sensor signals, etc. Motor connector (MOTOR) Connector for the servo motor's power line connection. I/O connector (I/O) Connector type is selected NPN, PNP, CC-Link, DeviceNe Regenerative unit connector (RGEN) Connector for the regenerative unit connection. Status indicator lamps (PWR, ERR) The controller status is indicated by LED lamps. Rating nameplate (on side face of unit body) EtherNet/IP Communication connector (COM1) Connector for connection to HT1 or a personal computer. RGT Robot I/O connector Dedicated connector for robot I/O signals such as position signals and origin sensor signals, etc. Rating nameplate (on side face of unit body) Serial No. Status indicator Status indicator lamps (PWR, ERR) The controller status is indicated by LED lamps. ϕ5.5 R2.75
RGEN
30 142 15
20mm) between this unit and the adjacent controller. 5 152
: 0 to 40˚C : 35 to 85% condensation) RH (no Controller 162 Controller : . 1 TM Power supply connector Connector for main power and control power input. Dimensions KCA-M4107-0A W30 × D118mm × H142 470g Approx. 420V or more Approx. 380V or less Cable for connection with controller (300mm) (COM1) or EtherNet/IP Communication connection cable. TM NPN,PNP, CC-Link, control power input. I/O connector (I/O) connector 2 (COM2) or a personal computer. an open condition Unit's top cover in Power supply connector DeviceNet Install the TS-S2/TS-SH/TS-X/TS-P inside the control panel. Install the TS-S2/TS-SH/TS-X/TS-P on a vertical wall. Install the TS-S2/TS-SH/TS-X/TS-P in a well ventilated location, with space on all sides of the TS-S2/TS-SH/ TS-X/TS-P fig. (See at right.). Ambient temperature Ambient humidity Also, always use the dedicated cable when connecting the controller. Always leave an empty space (gap of about Connector for the daisy-chain Connector for the Regenerative unit RGT/RGU-2 unit Regenerative Installation conditions TS-S2 / TS-SH part names TS-X / TS-P part names Connector for main power and electable at time of purchase as Communication connector Communication Basic specifications
• • • • •
S Connector for connection to HT1 Communication connector 2 (COM2) Connector for the daisy-chain or LCD monitor connection. Absolute battery connector (BAT) Connector for the absolute battery connection. (only for TS-X) EXT connector (bottom face of unit body) Connector for brake power input and external safety circuit inputs/outputs. Serial No. Regenerative unit RGT Regenerative stop voltage Model Dimensions Weight voltage Regenerative Item Accessory Note. Note. Instruction manuals can be downloaded from our company website. Please use the following for more detailed information. detailed for more following use the Please website. our company from can be downloaded manuals Instruction http://global.yamaha-motor.com/business/robot/ - - .
. Description Optimum positioning is provided simply by specifying the 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 opera tion can be set. This setting type is suited for machining and systems. inspection Custom setting Standard setting Optimum positioning is provided simply by specifying the Optimum positioning is provided simply by specifying payload. Speed and acceleration can be set in SI units. pecifies parameter settings related to positioning pecifies parameter settings related to positioning pecifies parameter settings specified to the connected robot. elect the desiredsetting type (“standard setting” or “custom elect the desiredsetting type (“standard setting” (2) S These parameters are specified during initial processing (1) S and return to-origin operations. Specifies parameter settings related to terminal assignments and I/O function selection. Specifies parameter settings related to options such as CC-Link, etc. Sets the point data to be used in positioning. S setting”) according to the application Setting Type Standard settingStandard Custom setting ting”). Select the desired setting type according to the application. The maximum number of setting points for both setting types(P1 to P255). is 255 points “Standard setting” and “custom setting” There are 2 setting types for point data (“standard setting” or “custom set TS-S2S / TS-SHS (Sensor specifications) “SENSOR” label is affixed to the front of the controller. (Be aware that “TS-S2S” is affixed to the front of the controller.) Zone (-) Zone (+) Near width Jump Flag Timer - - - - 7 8 9 10 11 12 K1 to K20 K21 to K39 K80 to K99 I/O parameter P1 to P255 RUN parameter Servo parameter Option parameter K40 to K79, K100 to ... RUN type Position Speed Accel. Decel. Push 1 2 3 4 5 6 Description P1 to P255P1 Point data Parameter data ) in SI units. Select the desired setting type according to the application. Specifies the positioning operation pattern. operation positioning the Specifies Specifies the positioning target position or amount. movement speed. positioning the Specifies acceleration. positioning the Specifies Specifies the positioning deceleration(as a percentage of the acceleration). Specifies the electrical current limitvalue for operations. “Push” Specifies the “personal zone” output range. Specifies the “near width”(distance zone toler ance relative to target position). Specifies the next movement destination, or the next merge operation merge destination point No. follow ing positioning completion. positioning ing Specifies other information related to the posi tioning operation. tioning Specifies the waiting (delay) timeafter position ing completion. 2 Data Item RUN type Position Speed Accel. Decel. Push Zone (-) Zone (+) width Near Jump Flag Timer Point data Data overview Cautions on TS-S2 / TS-SH Data structure
1 2 3 4 5 6 7 8 9 11 12 10 Point data item list Parameter data Parameter Parameter data is divided into the following categories: “RUN parameters”, “I/O parameters”, “option parameters”, and “servo parameters”. The point data used in positioning operations includes items such as the “RUN type”, “Position”, and “Speed”, etc. Up to 255 points to P255) (P1 can be registered. There are two point data setting types: “Standard setting” type that automatically defines optimal positioning simplyby specifying the payload and “Custom setting” type that allows setting theand speed(mm/s) acceleration (m/s Point data and parameter data settings must bespecified in order to operate a robot from a TS series controller. data Point TS-S2/ TS-SH (Standard specifications) “BK”label is affixed to the front of the controller. For the RF type sensor specifications, the controllers “TS-S2” and “TS-SH” become “TS-S2S” and “TS-SHS”, respectively. TS-S2/TS-SH/TS-X/TS-P
Compact Linear motor Cartesian SCARA Pick & place iVY/ 442 single-axis robots Single-axis robots single-axis robots robots robots robots Robot Pulse string Robot Electric APPLICATIONTRANSERVO FLIP-X PHASER XY-X YK-X YP-X CLEAN CONTROLLERINFORMATION positioner driver controller gripper Option Compact Linear motor Cartesian SCARA Pick & place iVY/ single-axis robots Single-axis robots single-axis robots robots robots robots Robot Pulse string Robot Electric APPLICATIONTRANSERVO FLIP-X PHASER XY-X YK-X YP-X CLEAN CONTROLLERINFORMATION positioner driver controller gripper Option 443 ES Status ES Status External 24V EXT connector
D
2 Internal GND MPRDY
8 Internal GN
1 MPRDY
- ES
67 Controller
ES2
1 ES
45 Controller ES+
Internal power 0V +24V 123 0V ES- ES1 ES2 COM1 CP24V MP24V Description " L N L1 N1 COM1 External 0V NC NO adapter ports) (2 External 0V Slave 1 node l TM External TM RY "emergency stop (power connector and host unit connection example) (EXTconnector and host unit connection example) Handy Terminal stop” RY External DeviceNet EtherNet/IP Input points, 16 24VDC 5.1mA/point, +/-10%, positive common Output points, 16 24VDC 50mA/point, +/-10%, sink type Input points, 16 24VDC 5.5mA/point, +/-10%, minus common Output points, 16 24VDC 50mA/point, +/-10%, source type compatible,CC-Link Remote station Ver.1.10 device (1 node) TS-S2/TS-SH/TS-X/TS-P Handy Termina “emergency TM TM Item I/O Specifications I/O Emergency stop circuit example circuit stop Emergency TS-S2/ TS-SH TS-XTS-P /
Installing an external safety circuit will satisfy safety categoryclass 4 standards. for more See information. P.529 External 24V External 0V Note. Always connect a surge absorber unit to the coil on the electromagnetic contactor. Note. Always connect a surge absorber unit to the coil on the electromagnetic contactor. Note. Always connect a surge absorber unit to the coil on the EtherNet/IP NPN PNP CC-Link DeviceNet s s s ) s s n 7 n 7 3 3 7 3 m Control outputs OUT 0 to PIN 0 to 7 Point No. selection Point No. outputs POUT 0 to Control output OUT 0 to PIN 0 to 7 Point No. selection Point No. outputs POUT 0 to Control output OUT 0 to PIN 0 to 7 Point No. selection Point No. outputs POUT 0 to JOG movement (+) JOG movement (-) MANUAL mode Return-to-origin Interlock Start Reset Servo ON I/O power - common Operation-in-progres End-of-operatio Alarm Servo status I/O power + common JOG movement (+ Operation-in-progres End-of-operation Alar Servo status JOG movement (-) MANUAL mode Return-to-origin Interlock Start Reset Servo ON I/O power - common I/O power + common JOG movement (+) JOG movement (-) MANUAL mode Operation-in-progres I/O power - common I/O power + common End-of-operatio Alarm Servo status Servo ON Interlock Start Reset Return-to-origin DC24V DC24V DC24V I/O(NPN) I/O(NPN) I/O(NPN) L END END PIN0 PIN7 ORG PIN0 PIN7 /ALM ORG JOG- /ALM JOG- JOG+ -COM OUT0 OUT3 BUSY JOG+ -COM OUT0 OUT3 BUSY END +COM PIN0 PIN7 +COM /LOCK ORG SRV-S /ALM /LOCK JOG- START POUT0 POUT7 RESET START JOG+ POUT0 POUT7 RESET -COM OUT0 OUT3 BUSY SERVO SERVO +COM /LOCK START POUT0 POUT7 RESET MANUAL MANUA SERVO SERVO-S MANUAL SERVO-S 2 1 2 1 Controller Controller Controller ES+ ES1 ES2 MPRDY MPRDY ES- +24V 0V L1 N1 N L L1 N1 N ES+ ES1 ES2 MPRDY MPRDY ES- +24V 0V L ES1 ES2 ES- MP24V CP24V 0V FG r EXT EXT . DC24V DC24V DC24V Power connecto t l l t t r r t t t t NPN type input output / wiring diagram TS-X TS-S2/ TS-SH
TS-P
Note. When using a brake-equipped robot Main power input READY output contact “Emergency stop” READY signal Note. Mechanical brake power inpu Main power input “Emergency stop” contact 1 “Emergency stop” contact 2 Control power inpu “Emergency stop” contact 1 “Emergency stop” contact 2 Main power inpu READY output contac “Emergency stop” READY signa Control power inpu Main power inpu Internal power fo “emergency stop” inpu Internal power fo “emergency stop” input “Emergency stop” contact 1 “Emergency stop” contact 2 Main power input “Emergency stop” READY signa Control power input 24V DC Power supply 0V Frame ground Instruction manuals can be downloaded from our company website. Please use the following for more detailed information. detailed for more following use the Please website. our company from can be downloaded manuals Instruction http://global.yamaha-motor.com/business/robot/ circuit Internal DC24V Load +COM -COM Output c Logi circuit ) Description Ω t 7k t 4. A Servo status Alarm OUT0 to OUT3 assignments include: • Zone output • Personal zone output • MANUAL mode status • Return-to-origin end status • NEAR output Movement-in-progress • • Push status • Warning output Operation-end Point No. outputs Operation-in-progress )
c Outputs No connection No I/O power input, negative common (0V) Logi circuit Input +COM -COM PNP open collector outpu (Plus common type Photo-coupler isolation format 24VDC, 50mA/point DC input (minus common type Photo-coupler isolation forma 24VDC +/- 10%, 5.5m ON voltage : 19.6Vmin (4.5mA) OFF voltage : 4.9Vmax (1.1mA) NC NC END /ALM OUT1 OUT0 OUT3 OUT2 BUSY -COM SRV-S POUT4 DC24V POUT1 POUT5 POUT6 POUT0 POUT3 POUT2 POUT7 circuit Signal Name Signal Internal Type : Load : Type : Load : PNP type I/O circuit details Input circuit Input Outputcircuit
B1 B7 B2 B9 B5 B3 B8 B6 B4 No. B11 B17 B13 B12 B15 B14 B18 B19 B16 B10 B20 circuit Internal DC24V Load +COM -COM Output c Logi circuit Description ) t t 4.7kΩ Interlock Start Reset Return-to-origin MANUAL mode Servo ON Point No. select JOG movement direction) (- JOG movement direction) (+
A Inputs ) No connection No I/O power input, positive common (24VDC +/-10%) c Logi circuit Input NC NC -COM +COM PIN1 PIN7 PIN3 PIN2 PIN4 PIN5 PIN0 PIN6 ORG JOG- JOG+ +COM /LOCK START RESET SERVO MANUAL hoto-coupler isolation forma DC input (plus common type P 24VDC +/- 10%, 5.1m OFF voltage : 19.6Vmin (1.0mA) ON voltage : 4.9Vmax (4.0mA) NPN open collector output (Minus common type Photo-coupler isolation forma 24VDC, 50mA/point Signal Name Signal DC24V circuit Internal Load : Type : Type : Load : NPN type I/O circuit details I/O signals (NPN / PNP) Outputcircuit Input circuit Input A1 A7 A6 A9 A3 A8 A5 A4 A2
No. A11
A17 A12 A13 A15 A14 A18 A19 A16 A10 A20 TS-S2/TS-SH/TS-X/TS-P
Compact Linear motor Cartesian SCARA Pick & place iVY/ 444 single-axis robots Single-axis robots single-axis robots robots robots robots Robot Pulse string Robot Electric APPLICATIONTRANSERVO FLIP-X PHASER XY-X YK-X YP-X CLEAN CONTROLLERINFORMATION positioner driver controller gripper Option Compact Linear motor Cartesian SCARA Pick & place iVY/ single-axis robots Single-axis robots single-axis robots robots robots robots Robot Pulse string Robot Electric APPLICATIONTRANSERVO FLIP-X PHASER XY-X YK-X YP-X CLEAN CONTROLLERINFORMATION positioner driver controller gripper Option - 445 D-Sub TS-S2 TS-SH TS-X TS-P TS-SD TS-S2 TS-SH TS-X TS-P TS-SD TS-S2 TS-SH TS-X TS-P TS-S2 TS-SH TS-X TS-P TS-SD TS-X TS-P
KCA-M538F-A0 KCA-M538F-01 KCA-M4872-00 KCA-M4873-00 Jump socket Note. USB KCA-M4874-00 KAS-M5382-00 KCA-M4421-20 KCA-M532L-00 (300mm) Connector Connector USB type (5m) D-Sub type (5m) Jump socket Connector This is a single connector type. (Insert two connectors into a branch ing socket.) our website (driver supports VIP+, POPCOM, and TS-Manager). USB driver for communication cable can also be downloaded from
CC-Link terminationCC-Link connector specifications) (CC-Link Data cables Data CC-Link connector (CC-Link specifications) Power connector (AC200V specifications) I/O cables (2m) Daisy chain and gateway connection cable gateway and chain Daisy Model Model Model Model Model Model Note. Note. Communication cable for TS-Manager. Select from USB cable or D-sub cable. Note.
- - 454 TS-S2/TS-SH/TS-X/TS-P P. TS-S2 TS-SH TS-X TS-P TS-SD TS-X TS-P TS-S2 TS-SH TS-X TS-P 17 × L53mm17 For TS-SH ϕ 3.6V / 2,750mAh 22g KCA-M53G0-01 English) Japanese) ( ( For TS-X 18 × L50mm18 ϕ KCA-M53G0-10 3.6V / 1,650mAh (instate with no power applied) Lithium metallic battery About 1 year 24g Exceedingthe environment recommended the by OS being used Vacant capacity of more than 20MB in the drive destination installation Serial (RS-232C), USB TS-S2 / TS-SH / TS-X / TS-P / TS-SD Microsoft Windows 2000 / XP / Vista / 7 Exceedingthe environment recommended the by OS being used
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Support software TS-Manager Dummy connector Dummy Power connector specifications) (AC100V Communication port Communication controllersApplicable OS CPU Memory Hard disk Batterycapacity Model Battery type Data holding time Dimensions Weight Model Model Model Note. Note. Besides data writing, editing and backup functions, the TS-Manager also offers cycle time simulation and various types of monitor functions. -
) 447 448 P. P. TS-SH) TS-X TS-P TS-S2 TS-SH TS-X TS-P TS-X TS-P TS-S2 TS-SH TS-SD HT1-D 3-position Applicable For For TS-X HT1-D KCA-M5110-1E KCA-M5110-7E TS-SH KCA-M5119-00 KCA-M5119-10 – HT1 HT1 Not supported KCA-M53G0-01( KCA-M53G0-10 ( KCA-M5370-00 KCC-M4421-00 KCA-M5110-6E KCA-M5110-0E For TS-P For TS-X 3.5m 10m If troubleIf occurs with the memory then remaining battery life is low so replace thepends absolute on usage battery. conditions. The battery But generally replacement you should period replace de the battery after aboutcontroller 1 year counting and left the total without time after turning connecting on the power. to the The absolute battery is subject to wear and requires replacement. Options Standard accessories
TS-X Absolute batteryAbsolute EXT connector TS-Monitor monitor) (LCD Handy terminal / HT1-D HT1 Power connector Power Model Model Enable switch Model Model Model CE marking tion, electrical current and voltage values, etc. A liquid crystal display is integrated into this unit. It allows checking each operating state, current posi Has graphic LCD display with backlight for easy viewing. Note. Note. For braking power and safety circuit connections. Accessories and part options and part Accessories Instruction manuals can be downloaded from our company website. Please use the following for more detailed information. detailed for more following use the Please website. our company from can be downloaded manuals Instruction http://global.yamaha-motor.com/business/robot/ (35) 30 TS-X(P)220 70 58 30 25.5 15 12.5
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DIN rail mounting bracket (This bracket is provided in TS-SH as standard equipment.) Model Model Model TS-S2/TS-SH/TS-X/TS-P
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HT1-D TS-SH 15 pin D-sub15 (male) connector 300g including(not cable) KCA-M5110-1J(3.5m) KCA-M5110-7J(10m) KCA-M5110-1E(3.5m) KCA-M5110-7E(10m) Applicable 3-position TS-S2 HT1
TS-S2 / TS-SH / TS-X TS-P / (Emergency stop button not included.) including(not cable) KCA-M5110-0J(3.5m) KCA-M5110-6J(10m) KCA-M5110-0E(3.5m) KCA-M5110-6E(10m) Dot matrix monochrome display (with backlighting) 32 characters lines × 10 Not supported 3.5m / 10m 260g Mechanicalswitch Normally closed contact point (with lock function) - 0°C to 40°C 35% to 85%RH (non-condensing) × D45mmW88 × H191 - Japanese specifications Japanese English specifications Applicable controllers HT1 / HT1-D basicHT1 specifications
Cable length Cable CE marking Display Weight Operation keys Operation Emergency stop button Enable switch External view Name Operatinghumidity Dimensions Operating temperature Operating Safety connector Safety Applicablecontrollers Model This Handy Terminalis a device that can perform any operation such as robot manual operation, point data edit, teaching, and parameter setting, etc. Has graphic LCD display with backlight foreasy viewing. Handy terminal HT1/HT1-D
Compact Linear motor Cartesian SCARA Pick & place iVY/ 448 single-axis robots Single-axis robots single-axis robots robots robots robots Robot Pulse string Robot Electric APPLICATIONTRANSERVO FLIP-X PHASER XY-X YK-X YP-X CLEAN CONTROLLERINFORMATION positioner driver controller gripper Option Compact Linear motor Cartesian SCARA Pick & place iVY/ single-axis robots Single-axis robots single-axis robots robots robots robots Robot Pulse string Robot Electric APPLICATIONTRANSERVO FLIP-X PHASER XY-X YK-X YP-X CLEAN CONTROLLERINFORMATION positioner driver controller gripper Option
449 TS-P ) Edition 3.8 TM TM TM TS-X Note TM TM Adaptation Edition 1.9 TS-SH TM Network modules CC-Link Network modules DeviceNet Network modules EtherNet/IP TS-S2
: EtherNet/IP : Common Industrial Protocol (CIP
Input points, 16 Output points 16 500m/125Kbps 250m/250Kbps, 100m/500Kbps, 6m or less 39m or less/500Kbps, 78m or less/250Kbps, 156m or less/125Kbps Module, Network Voluime2 0.2m or more 900m/625Kbps, 400m/2.5Mbps, 160m/5Mbps, 100m/10Mbps, 1200m/156Kbps L RUN, L ERR, SD, RD Volume 1 Release2.0/Volume 2 Release2.0 Generic Device (device number 0) Input 6ch, Output 6ch 0 to 63 500Kbps, 250Kbps, 125Kbps TS-S2 / TS-SH / TS-X / TS-P TS-S2 / TS-SH /TS-SH/TS-X/TS-P TS-S2 / TS-SH / TS-X / TS-P 1.10 Ver. Remote device node 1 node 1 to 64 10Mbps, 5Mbps, 2.5Mbps, 625Kbps, 156Kbps Input points 16 , Output points 16 Generic Device (device number 43) Input 6ch, Output 6ch 10BASE-T/100BASE-TX 100m MS, NS, Activity, Link Volume1 Note1 Note1 specifications specifications TM TM Item Item inputs/outputs Overall extension distance Branch length Overall branch length TM Applicable controllers
or later) and TS-Manager (V1.3.3 or later). Supported by controller software or later. version Necessary V1.10.121 parameters can be set with the support tool, (V1.13 HT-1 Basic specifications for network modulesEtherNet/IP Basic specifications for network modules DeviceNet Basic specifications for network modules CC-Link
Network length Monitor LED Overall extension distance Monitor LED Device type Number of occupied CH MAC ID setting Communication speed setting DeviceNet Applicable EtherNet/IPApplicable Applicable DeviceNet Applicable controllersApplicable Applicable controllersApplicable Item controllersApplicable Version supporting CC-Link Remote node type Number of occupied nodes Node number setting Communication speed setting No. of CC-Link inputs/outputs Shortest distance between nodes Number of occupied CH interface Ethernet Network length Monitor LED Device type Note. Note. Note These 1. values apply when a cable that supports is CC-Link used. Ver.1.10 - - - - - TM TM
Operate as adapters, with each unit occupying 6 input and 6 output channels. Remote commands can read or write point data and load each type of status. Option unit with networkingfunctions that can be incorporated in YAMAHA robot controllers, TS-S2 / TS-SH / TS-X / TS-P. For connection of the robot system and the sequencer, the daisy chain connation can be constructed with a LAN cable or more) (CAT5 that is generally available on the market. As it is not necessary to use the hub, the wiring can be saved and the costs necessary to install the entire system can also be reduced. 16 input/outputs16 usable as I/O. Operate as slave stations, with each unit oc cupying 6 input and 6 output channels. Remote commands can read or write point data and load each type of status. Option unit with networkingfunctions that can be incorporated in YAMAHA robot controllers, TS-S2 / TS-SH / TS-X / TS-P. As connection of the robot system and the se quencer requires only one (4-wire) dedicated cable, it is possible to save wiring of the entire system, which contributes to efficient wiring work, reductionof installation and mainte nance costs, etc. input/outputs16 usable as I/O. Operationoccurs as a CC-Link remote device station, on a one-unit to one-station basis. Remote commands can read or write point data and load each typeof status. quencer requires only one (4-wire) dedicated cable, it is possible to reduce wiring of the entire system, which contributes to efficient wiring work, reduction of installation and main tenance costs, etc. As connection of the robot system and the se Option unit with networking functions that can be incorporated in YAMAHA robot controllers, TS-S2TS-SH / / TS-X / TS-P.
EtherNet/IP DeviceNet CC-Link
NETWORK Fieldnetwork system with minimal wiring