Download TS-S/TS-X/TS-P TS series

Compact
single-axis robots
APPLICATION TRANSERVO
Single axis
TS-S/TS-X/TS-P
Robot positioner
TS series
CE compliance
FLIP-X
Single-axis robots
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 and enter a START
signal from host controller such as a PLC. Positioning or pushing operation then begins.
TS-S
PHASER
TS-X
TS-P
1 Main operation patterns
P1
Position
SCARA
robots
YK-XG
Moves to the target position relative
to the origin point and completes
positioning.
Moves a specified distance
from the current position
Current position
P1
Moves from the current position
just by a distance specified in point
data and completes positioning.
Changes speed with no
deceleration
P1
P2
Moves to multiple points in
succession. If different speeds were
set, then the speeds are changed
without decelerating and stopping to
continue point-to-point operation.
Decelerates and then
pushes
N
P1
CLEAN
Pushing starts after decelerating
at a distance equal to “Near width
(N)” from the target position.
2 Detailed data can be set for each point
CONTROLLER INFORMATION
Settings such as acceleration, deceleration, zone output
range, and position margin zone can be set for each point.
Different operations can be easily specified by combining
these settings with the above operation patterns.
Setting items
Setting item
Description
Specifies operation pattern such as ABS, INC,
positioning, push, and point-to-point link.
2 Position
Specifies position or distance to move.
3 Speed
Specifies maximum speed during operation.
4 Accel.
Specifies acceleration during operation.
Specifies deceleration during operation
5 Decel.
(Percentage of acceleration)
Specifies motor current limitation during
6 Push
pushing operation.
7 Zone (-)
Specifies upper and lower limits of “personal
zone” for each point data.
8 Zone (+)
Specifies position margin zone where “near
9 Near width
width” output should turn on.
Specifies next movement destination after positioning
10 Jump
or linked destination for point-to-point operation.
11 Flag
Specifies stop mode and others.
Specifies the waiting time (delay) after
12 Timer
positioning completion.
1 Run type
Robot
positioner
Pulse string
driver
Robot
controller
iVY
Note:Acceleration and deceleration can be set in easy-to-understand percentage (%) units
(standard setup) or in SI units (custom setup) which make it easy to calculate the cycle time.
3 Maximum acceleration auto setting
Electric
gripper
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.
On the TS series, the maximum acceleration is finely set by
taking into account the service life span of the motor output and
the guide for each robot model and payload. This eliminates
any worry about setting the acceleration too high by mistake.
Option
396
Output pattern
Output turns ON when a
specified zone is entered
ON
OFF
P1
Zone for external I/O output can
be set for each point.
“Near width” output
P1
Moves while pushing at a preset
push force.
Pushing after decelerating
YP-X
Pick & place
robots
Pushing operation
Pushes at a fixed thrust
INC (incremental) operation
Speed
ABS (absolute) operation
XY-X
Cartesian
robots
Moves to a specified
coordinate position.
Merge operation
Zone output
Normal operation
Merge operation
Linear motor
single-axis robots
Features
Specify position margin
zone.
P1
“Near width” output zone can be set for
each point as a position margin zone where
“positioning complete” signal is to be output.
4 Full range of monitor functions
P.411
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,
user-friendly operation.
Main monitor displays
· Position · Speed
· Current · Load factor
· Voltage · Temperature
· Input information
· Output information
5 LCD monitor showing easy-to understand operation status display
TS-X TS-P
A main-unit integrated type LCD monitor is available as
an optional unit. The operation status, current position,
load factor, and/or error contents can be understood at
a glance.
P. 405
6 Power supply voltage selectable
100V or 200V
TS-X TS-P
The power supply voltage for the TS-X and TX-P is
selectable from 100V or 200V.
This function allows monitoring the various data design and operation status of any controller connected via daisy chain
from one PC or handy terminal.
Compact
single-axis robots
7 Daisy chain function
TS-S TS-X TS-P
APPLICATION TRANSERVO
TS-S/TS-X/TS-P
Instruction manuals can be downloaded from our company website. Please use the following for more detailed information.
http://www.yamaha-motor.co.jp/global/industrial/robot/
FLIP-X
Single-axis robots
HT1
or
PHASER
Linear motor
single-axis robots
TS-Manager
Cartesian
robots
XY-X
Up to 16 controllers
TS-S
TS-X
Main power supply
DC24V +/-10% maximum
Power
SCARA
robots
Name
YK-XG
Model Overview
TS-P
AC100V specifications
Single phase 100 to 115V +/-10% maximum (50/60Hz)
TS-S
Controller
CONTROLLER INFORMATION
TS-X / TS-P
TSX
I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNet
Driver:Power-supply voltage /
Power capacity
105: 100V / 100W more less
110: 100V / 200W
205: 200V / 100W more less
210: 200V / 200W
220: 200V / 400 to 600W
Controller
TSX: TS-X
TSP: TS-P
Regenerative unit
No entry: None
R: With RGT
R: With RGU-2
Input/Output
Selection
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNet
LCD monitor
No entry: None
L: With LCD
Battery Note1
B:With battery
(Absolute model)
N:None
(Incremental model)
Note1. Battery can only be selected for TS-X. (Not provided for TS-P).
Robot
positioner
TS-X / TS-P specification selection table
Some specifications are automatically determined by the robot model.
TS-X
T9H
(1)
(1)
(2)
(2)
F8 /
C8
F8L / F8LH / F10 / F14 / F14H / F17 / F17L / F20 / F20N N15 / N18 / B10
C8L C8LH C10 C14 C14H C17 C17L C20
N15D N18D
(1)
(1)
(1)
(1)
(2)
(2)
(3)
(3)
(3)
(3)
(4)
(4)
B14H
(5)
(5)
R5
R10
R20
iVY
(1) Regenerative unit is needed if using in a perpendicular position and movement stroke is 700mm or more.
(2) Regenerative unit is needed if using in a perpendicular position.
(3) Regenerative unit is needed if using in a perpendicular position, using at maximum speeds exceeding 1000mm per second, or if using high leads (40).
(4) Regenerative unit is needed if using at maximum speeds exceeding 1000mm per second.
(5) Regenerative unit is needed if using at maximum speeds exceeding 1250mm per second.
B14
Robot
controller
T9
Pulse string
driver
T4LH / T5LH / T6L /
C4LH C5LH C6L
105
Power
110
supply
voltage / TS-X 205
Current
210
sensor
220
Regenera- No entry (None)
tive unit R (RGT)
CLEAN
TS-S
Pick & place
robots
Ordering method
YP-X
AC200V specifications
Control power supply
Single phase 200 to 230V +/-10% maximum (50/60Hz)
DC24V +/-10% maximum
Operating method
I/O point tracing / Remote command / Operation using RS-232C communication
Maximum number of controllable axes
Single-axis
Position detection method
Incremental
Absolute / Incremental
Incremental / Semi-absolute
Compact single-axis robot TRANSERVO
Single-axis robot FLIP-X
Linear motor single-axis robot PHASER
Controllable robot
Support software for PC
TS-Manager
TS-P
MF7/7D
MF15/15D
MF20/20D
MF30/30D
MF75/75D
Electric
gripper
MR12/12D
Option
105
Power
110
supply
voltage / TS-P 205
Current
210
sensor
220
No entry (None)
RegeneraR (RGT)
tive unit
R (RGU-2)
397
APPLICATION TRANSERVO
TS-S/TS-X/TS-P
TS-S basic specifications
Axis control
Points
PHASER
Linear motor
single-axis robots
XY-X
Cartesian
robots
SCARA
robots
YK-XG
External input/output
FLIP-X
Single-axis robots
YP-X
Pick & place
robots
General specifications Options
Compact
single-axis robots
Basic specifications
Item
Model
Number of controllable axes
Controllable robots
Power capacity
Dimensions
Weight
Control power supply
Input power
supply
Motor power supply
Control method
TS-S
Single-axis
TRANSERVO series
70 to 110VA
W30 × H162 × D82mm
Approx. 0.2kg
DC24V +/-10% maximum
DC24V +/-10% maximum
Closed loop vector control method
Operating method
Operation types
Position detection method
Resolution
Origin search method
Points
I/O point tracing (Positioning operation by specifying point number) / Remote command
Positioning, merge-positioning, push, and jog operations
Resolver
20480 P/rev
Incremental
255 points
(1) Standard setting: Set speed and acceleration in percent of the respective maximum settings.
Point type setting
(2) Custom setting:
Set speed and acceleration in SI units.
Point teaching method
Manual data input (coordinates 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) origin search (ORG), manual mode
Input
(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),
Output
control outputs (OUT0 to 3), Point number output 0 to 7 (POUT0 to POUT7)
External communications
RS-232C 1CH
Safety circuit
Emergency stop input, emergency stop contact output (1 system: When the HT1 is used.)
Handy terminal
HT1, HT1-D (with enable switch)
Support software for PC
TS-Manager
Operating temperature / Operating humidity 0°C to 40°C, 35% to 85%RH (non-condensing)
Storage temperature/ Storage humidity -10°C to 65°C, 10% to 85%RH (non-condensing)
Atmosphere
Indoor location not exposed to direct sunlight. No corrosive , flammable gases, oil mist, or dust particles
Anti-vibration
All XYZ directions 10 to 57Hz unidirectional amplitude 0.075mm 57 to 150Hz 9.8m/s2
Positioning detection error, power module error, temperature abnormality, overload, overvoltage, low voltage,
Protective functions
gross position error
CLEAN
TS-X / TS-P basic specifications
Model
Basic specifications
Axis control
Points
Pulse string
driver
Robot
controller
iVY
External input/output
Robot
positioner
Electric
gripper
Option
General specifications Options
CONTROLLER INFORMATION
Item
398
Driver model
Number of controllable axes
Controllable robots
Power capacity
Dimensions
Weight
Control power supply
Input power
supply
Motor power supply
Control method
Operating method
Operation types
Position detection method
Resolution
Origin search method
Number of points
TS-X / TS-P
100V AC input
200V AC input
TS-X105 / TS-P105
TS-X110 / TS-P110
TS-X205 / TS-P205
TS-X210 / TS-P210
TS-X220 / TS-P220
Single-axis
TS-X: Single-axis robot FLIP-X series TS-P: Linear motor single-axis robot PHASER series
1400VA
400VA
600VA
400VA
600VA
W58 × H162 × D131mm
W70 × H162 × D131mm
Approx. 0.9kg
Approx. 1.1kg
Single phase AC100 to 115V +/-10% 50/60Hz Single phase AC200 to 230V +/-10% 50/60Hz
Single phase AC100 to 115V +/-10% 50/60Hz Single phase AC200 to 230V +/-10% 50/60Hz
Closed loop vector control method
I/O point tracing (Positioning operation by specifying point number) / Remote command
Positioning, merge-positioning, push, and jog operations
TS-X: Resolver with multi-rotation absolute function TS-P: Magnetic type linear scale
TS-X: 16384 P/rev TS-P: 1μm
TS-X: Absolute / Incremental TS-P: Incremental / Semi-absolute
255 points
(1) Standard setting: Set speed and acceleration in percent of the respective maximum settings.
Point type setting
(2) Custom setting:
Set speed and acceleration in SI units.
Point teaching method
Manual data input (coordinates 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) origin search (ORG), manual mode
Input
(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),
Output
control outputs (OUT0 to 3), Point number output 0 to 7 (POUT0 to POUT7)
External communications
RS-232C 1CH
Power supply for brake
DC24V +/-10% 300mA (prepared by the customer)
Emergency stop input, main power input ready output, emergency stop contact output (1 system: When the HT1 is used.)
Safety circuit
Handy terminal
HT1, HT1-D (with enable switch)
Support software for PC
TS-Manager
Operating temperature / Operating humidity 0°C to 40°C, 35% to 85%RH (non-condensing)
Storage temperature / Storage humidity -10°C to 65°C, 10% to 85%RH (non-condensing)
Atmosphere
Indoor location not exposed to direct sunlight. No corrosive , flammable gases, oil mist, or dust particles
Anti-vibration
All XYZ directions 10 to 57Hz unidirectional amplitude 0.075mm 57 to 150Hz 9.8m/s2
Positioning detection error, power module error, temperature abnormality, overload, overvoltage, low voltage,
Protective functions
gross position error
Protective structure
IP20
TS-S part names
TS-S / TS-X / TS-P dimensions
Status indicator lamps
(PWR, ERR)
The controller status is indicated
by LED lamps.
5
TS-S
(70)
30
82
Compact
single-axis robots
Controller
Communication
connector 2 (COM2)
Connector for the daisy-chain
connection cable.
ϕ4.5
25
152
162
FLIP-X
Robot I/O connector (ROB I/O)
Dedicated connector for robot I/O
signals such as position signals
and origin sensor signals, etc.
Single-axis robots
152
Serial No.
Communication connector 1
(COM1)
Connector for connection to HT1
or a personal computer.
R
4.5
(90)
58
PHASER
TS-X/TS-P (105/110/205/210)
4
131
ϕ5.4
53
152
162
167
XY-X
Cartesian
robots
TS-X / TS-P part names
(8)
5
R
5.4
SCARA
robots
EXT connector
YK-XG
Power supply connector
Serial No.
Connector for main power and control power input.
Unit's top cover in
Status indicator lamps
an open condition
Controller
(PWR, ERR)
The controller status is indicated
by LED lamps.
Rating nameplate
(on side face of unit body)
Communication connector 1
(COM1)
Connector for connection to HT1
or a personal computer.
Linear motor
single-axis robots
Rating nameplate
(on side face of unit body)
Power supply connector
Connector for main power and
control power input.
5
5
I/O connector (I/O)
Selectable at time of purchase as:
NPN,PNP, CC-LINK or DeviceNet.
4
TS-X/TS-P (220)
Robot I/O connector (ROB I/O)
(90)
ϕ5.4
53
162
167
131
152
70
58
Pick & place
robots
CLEAN
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, or CC-LINK when purchased.
Regenerative unit connector
(RGEN)
Connector for the regenerative
unit connection.
YP-X
5
R
EXT connector
(8)
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.
5.4
•Install the TS-S/TS-X/TS-P inside the control panel.
TS-S
TS-X/TS-P
20mm
or more
•Install the TS-S/TS-X/TS-P on a vertical wall.
•Install the TS-S/TS-X/TS-P in a well ventilated location,
with space on all sides of the TS-S/TS-X/TS-P
(See fig. at right.).
20mm
or more
PWR
SRV
COM2
PWR
ERR
COM1
L
ROB
I/O
COM1
N
200V
L1
•Ambient temperature : 0 to 40˚C
I/O
: 35 to 85% RH (no condensation)
10mm
or more
ES1
ES2
ESMP24V
CP24V
0V
N1
20mm
or more
10mm
or more
ROB
I/O
CHARGE
MOTOR
20mm
or more
I/O
RGEN
Regenerative unit RGU-2
Regenerative unit RGT
Dimensions
2
120
157
5.5
250
265
290
ϕ5.5
iVY
162
152
142
15
30
40
16
Robot
controller
5
Dimensions
Pulse string
driver
Regenerative unit RGT/RGU-2
Robot
positioner
20mm
or more
20mm
or more
CONTROLLER INFORMATION
Installation conditions
•Ambient humidity
APPLICATION TRANSERVO
TS-S/TS-X/TS-P
Instruction manuals can be downloaded from our company website. Please use the following for more detailed information.
http://www.yamaha-motor.co.jp/global/industrial/robot/
RGEN
R2.75
RGT
Note. Always leave an empty space (gap of about 20mm) between this unit and the adjacent controller.
Also, always use the dedicated cable when connecting the controller.
RGU-2 TS-P
KCA-M4107-2A (Including accessory)
W40 × H250 × D157mm
0.9kg
Approx. 380V or more
Approx. 360V or less
Cable for connection with controller (300mm)
Note. Always leave an empty space (gap of about 20mm) between this unit and the adjacent controller.
Also, always use the dedicated cable when connecting the controller.
Option
KCA-M4107-0A
W30 × H142 × D118mm (Not including installation stay)
470g
Approx. 420V or more
Approx. 380V or less
Cable for connection with controller (300mm)
Item
Model
Dimensions
Weight
Regenerative voltage
Regenerative stop voltage
Accessory
Electric
gripper
Basic specifications
Basic specifications
Item
Model
Dimensions
Weight
Regenerative voltage
Regenerative stop voltage
Accessory
399
APPLICATION TRANSERVO
TS-S/TS-X/TS-P
Data overview
Compact
single-axis robots
Point data and parameter data settings must be specified in order to operate a robot from a TS series controller.
Point data
FLIP-X
Single-axis robots
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. 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.
Parameter data
PHASER
Linear motor
single-axis robots
Parameter data is divided into the following categories: “RUN parameters”, “I/O parameters”, “option parameters”, and “servo
parameters”.
Data structure
Point data
Data
XY-X
Cartesian
robots
1
2
3
4
5
6
SCARA
robots
YK-XG
P1 to P255
7 Zone (-)
RUN type
8 Zone (+)
Position
9 Near width
Speed
10 Jump
Accel.
11 Flag
Decel.
12 Timer
Push
Parameter data
K1 to K20
RUN parameter
YP-X
Pick & place
robots
K21 to K39
I/O parameter
K80 to K99
Option parameter
CLEAN
K40 to K79, K100 to ...
Servo parameter
Sets the point data to be used in positioning.
Select the desiredsetting type (“standard setting” or “custom
setting”) according to the application.
(1) Standard setting
Optimum positioning is provided simply by specifying the
payload.
(2) Custom setting
Speed and acceleration can be set in SI units.
Specifies parameter settings related to positioning
and return to-origin operations.
Specifies parameter settings related to terminal
assignments and I/O function selection.
Specifies parameter settings related to options
such as CC-Link, etc.
Specifies parameter settings specified to the connected robot.
These parameters are specified during initial processing.
CONTROLLER INFORMATION
Point data
Point data item list
Robot
positioner
Pulse string
driver
Robot
controller
1
2
3
4
5
6
7
8
9
10
11
12
Item
RUN type
Position
Speed
Accel.
Decel.
Push
Zone (-)
Zone (+)
Near width
Jump
Flag
Timer
P1 to P255
Description
Specifies the positioning operation pattern.
Specifies the positioning target position or movement amount.
Specifies the positioning speed.
Specifies the positioning acceleration.
Specifies the positioning deceleration (as a percentage of the acceleration).
Specifies the electrical current limit value for “Push” operations.
Specifies the “personal zone” output range.
Specifies the “near width” zone (distance tolerance relative to target position).
Specifies the next movement destination, or the next merge operation merge destination point No. following positioning completion.
Specifies other information related to the positioning operation.
Specifies the waiting time (delay) after positioning completion.
“Standard setting” and “custom setting”
iVY
There are 2 setting types for point data (“standard setting” or “custom setting”). Select the desired setting type according to the application.
The maximum number of setting points for both setting types is 255 points (P1 to P255).
Setting Type
Electric
gripper
Standard setting
Custom setting
Option
400
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 operation can be set.
This setting type is suited for machining and inspection systems.
Emergency stop circuit example
TS-S
TS-S (power connector and host unit connection example)
Compact
single-axis robots
NPN type input / output wiring diagram
Controller
I/O(NPN)
+COM
Power supply 0V
Frame ground
0V
FG
Operation-in-progress
End-of-operation
Alarm
Servo status
PIN0
Handy Terminal
External
"emergency stop"
External 24V
ES1
PIN 0 to 7
Point No. selection
ES2
CP24V
0V
Internal
GND
External 0V
External 0V
SCARA
robots
YK-XG
TS-X
MP24V
Cartesian
robots
I/O power - common
-COM
ES
Status
ES-
JOG movement (+)
JOG movement (-)
MANUAL mode
Return-to-origin
Interlock
Start
Reset
Servo ON
XY-X
PIN7
JOG+
JOGMANUAL
ORG
/LOCK
START
RESET
SERVO
PHASER
ES1
ES2
ESMP24V
CP24V
Control outputs
OUT 0 to 3
OUT3
BUSY
END
/ALM
SERVO-S
Linear motor
single-axis robots
“Emergency stop” contact 1
“Emergency stop” contact 2
“Emergency stop” READY signal
Main power input
Control power input 24V DC
FLIP-X
Point No. outputs
POUT 0 to 7
POUT7
OUT0
Power connector
Controller
COM1
Single-axis robots
POUT0
DC24V
I/O power + common
APPLICATION TRANSERVO
TS-S/TS-X/TS-P
Instruction manuals can be downloaded from our company website. Please use the following for more detailed information.
http://www.yamaha-motor.co.jp/global/industrial/robot/
TS-X / TS-P (EXT connector and host unit connection example)
Controller
Controller
Note. When using a brake-equipped robot.
PIN 0 to 7
Point No. selection
Internal
power
NO
NC
JOG movement (+)
JOG movement (-)
MANUAL mode
Return-to-origin
Interlock
Start
Reset
Servo ON
1
2
3
4
5
6
7
8
External
0V
MPRDY2
External
“emergency
stop”
ES-
RY
ES2
PIN7
JOG+
JOGMANUAL
ORG
/LOCK
START
RESET
SERVO
Internal
GND
L
MPRDY1
DC24V
PIN0
N
ES1
DC24V
Operation-in-progress
End-of-operation
Alarm
Servo status
0V
ES+
ES1
ES2
MPRDY2
MPRDY1
ES+24V
0V
OUT3
BUSY
END
/ALM
SERVO-S
N1
EXT connector
External 24V
I/O power - common
-COM
Note. Always connect a surge absorber unit to the coil on the electromagnetic contactor.
I/O(NPN)
+COM
POUT0
Main power input
L
N
EXT
Main power input
READY output contact
“Emergency stop” READY signal
DC24V
PIN0
PIN7
JOG+
JOGMANUAL
ORG
/LOCK
START
RESET
SERVO
-COM
Control outputs
OUT 0 to 3
Operation-in-progress
End-of-operation
Alarm
Servo status
PIN 0 to 7
Point No. selection
JOG movement (+)
JOG movement (-)
MANUAL mode
Return-to-origin
Interlock
Start
Reset
Servo ON
I/O Specifications
Item
Description
Input 16 points, 24VDC +/-10%, 5.1mA/point, positive common
Output 16 points, 24VDC +/-10%, 50mA/point, sink type
Input 16 points, 24VDC +/-10%, 5.5mA/point, minus common
PNP
Output 16 points, 24VDC +/-10%, 50mA/point, source type
CC-Link
CC-Link Ver.1.10 compatible, Remote station device (1 node)
DeviceNet DeviceNet Slave 1 node
NPN
Electric
gripper
ES+
ES1
ES2
MPRDY2
MPRDY1
ES+24V
0V
OUT3
BUSY
END
/ALM
SRV-S
Point No. outputs
POUT 0 to 7
iVY
Internal power for
“emergency stop” input
“Emergency stop” contact 1
“Emergency stop” contact 2
POUT7
OUT0
DC24V
I/O power + common
Robot
controller
Control power input
Pulse string
driver
Installing an external safety circuit will satisfy safety category
class 4 standards. See P.483 for more information.
Controller
L1
N1
Robot
positioner
TS-P
CONTROLLER INFORMATION
Note. Mechanical brake power input
EXT
ES
Status
L1
Control outputs
OUT 0 to 3
CLEAN
L
N
Main power input
Internal power for
“emergency stop” input
“Emergency stop” contact 1
“Emergency stop” contact 2
Main power input
READY output contact
“Emergency stop” READY signal
Handy Terminal
ES+
Control power input
Point No. outputs
POUT 0 to 7
POUT7
OUT0
L1
N1
DC24V
I/O power + common
+24V
POUT0
YP-X
I/O(NPN)
+COM
Pick & place
robots
COM1
I/O power - common
Option
401
APPLICATION TRANSERVO
TS-S/TS-X/TS-P
I/O signals (NPN / PNP)
Compact
single-axis robots
No.
Signal Name
A1
I/O power input, positive common
(24VDC +/-10%)
+COM
A2
Single-axis robots
FLIP-X
A3
Description
NC
No.
Signal Name
B1
POUT0
B2
POUT1
B3
POUT2
Description
No connection
A4
NC
B4
POUT3
A5
PIN0
B5
POUT4
A6
PIN1
B6
POUT5
A7
PIN2
B7
POUT6
A8
PIN3
B8
POUT7
PHASER
Linear motor
single-axis robots
Outputs
Point No. outputs
Point No. select
SCARA
robots
YK-XG
YP-X
Pick & place
robots
CLEAN
PIN4
B9
OUT0
A10
PIN5
B10
OUT1
A11
PIN6
B11
OUT2
A12
PIN7
B12
OUT3
A13
JOG+
JOG movement (+ direction)
B13
BUSY
Operation-in-progress
A14
JOG-
JOG movement (- direction)
B14
END
Operation-end
A15
MANUAL
MANUAL mode
B15
/ALM
Alarm
A16
ORG
Return-to-origin
B16
SRV-S
A17
/LOCK
Interlock
B17
NC
A18
START
Start
B18
NC
A19
RESET
Reset
B19
A20
SERVO
Servo ON
B20
Inputs
XY-X
Cartesian
robots
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
A9
Servo status
No connection
CONTROLLER INFORMATION
-COM
I/O power input, negative common (0V)
NPN type I/O circuit details
PNP type I/O circuit details
Input circuit
Input circuit
+COM
+COM
DC24V
4.7kΩ
Input
Input
Internal
circuit
Logic
circuit
Robot
positioner
DC24V
4.7kΩ
-COM
-COM
Type : DC input (minus common type)
Photo-coupler isolation format
Load : 24VDC +/- 10%, 5.5mA
ON voltage : 19.6Vmin (4.5mA)
OFF voltage : 4.9Vmax (1.1mA)
Pulse string
driver
Type : DC input (plus common type)
Photo-coupler isolation format
Load : 24VDC +/- 10%, 5.1mA
OFF voltage : 19.6Vmin (1.0mA)
ON voltage : 4.9Vmax (4.0mA)
Robot
controller
Output circuit
Output circuit
+COM
iVY
+COM
Output
Electric
gripper
Internal
circuit
Internal
circuit
Logic
circuit
Logic
circuit
Load
DC24V
Internal
circuit
Logic
circuit
Output
DC24V
-COM
-COM
Option
Type : NPN open collector output
(Minus common type)
Photo-coupler isolation format
Load : 24VDC, 50mA/point
402
Type : PNP open collector output
(Plus common type)
Photo-coupler isolation format
Load : 24VDC, 50mA/point
Load
Accessories and part options
Power connector
Power connector (AC200V specifications)
TS-X
TS-X
TS-SD
TS-P
TS-P
KCC-M4421-00
Model
Model
I/O cables (2m)
PHASER
Dummy connector
KAS-M5382-00
Linear motor
single-axis robots
EXT connector
KCA-M5382-00
FLIP-X
TS-S
Single-axis robots
Model
Power connector (AC100V specifications)
Compact
single-axis robots
Standard accessories
APPLICATION TRANSERVO
TS-S/TS-X/TS-P
Instruction manuals can be downloaded from our company website. Please use the following for more detailed information.
http://www.yamaha-motor.co.jp/global/industrial/robot/
For braking power and safety circuit connections.
TS-S
TS-X
TS-X
TS-P
TS-P
TS-P
XY-X
Cartesian
robots
TS-S
TS-X
Model
KCA-M5370-00
Model
KCA-M5163-00
Model
KCA-M4421-20
Absolute battery
SCARA
robots
YK-XG
Absolute battery basic specifications
TS-X
Note. The absolute battery is subject to wear and requires replacement.
If trouble occurs with the memory then remaining battery life is low
so replace the absolute battery. The battery replacement period
depends on usage conditions. But generally you should replace
the battery after about 1 year counting the total time after connecting to the controller and left without turning on the power.
CLEAN
Options
Handy terminal HT1 / HT1-D
Support software TS-Manager
Has graphic LCD display with backlight for easy viewing.
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TS-Manager
TS-X
TS-P
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Communication cable for TS-Manager.
Select from USB cable or D-sub cable.
TS-S
TS-X
TS-P
TS-SD
HT1-D
USB
TS-Monitor (LCD monitor)
TS-P
KCA-M5119-00
KCA-M5119-10
Daisy chain coupler cable
TS-S
TS-Manager environment
Microsoft Windows 2000/
XP/Windows Vista/7
Exceeding the environment
CPU
recommended by the OS
being used
Exceeding the environment
Memory
recommended by the OS
being used
Vacant capacity of
Hard disk
more than 20MB in the
installation destination drive
Communication port Serial (RS-232C), USB
Applicable controllers TS-S / TS-X / TS-P / TS-SD
TS-X
OS
Note. Windows is the registered trademark of US Microsoft Corporation in U.S.A. and other countries.
P.411
TS-P
TS-SD
Model
KCA-M532L-00
CC-Link connector
Connector
Jump socket
Note.
Model
Connector
Jump socket
Option
P.405
Note. USB driver for communication cable can also be downloaded from
our website (driver supports VIP+, POPCOM, and TS-Manager).
Electric
gripper
For TS-X
For TS-P
USB type (5m)
KCA-M538F-A0
D-Sub type (5m) KCA-M538F-01
iVY
TS-X
Model
Robot
controller
A liquid crystal display is integrated into this unit. It
allows checking each operating state, current position, electrical current and voltage values, etc.
KCA-M4966-00
Pulse string
driver
P.406
Model
D-Sub
Robot
positioner
HT1
HT1-D
3.5m KCA-M5110-0E KCA-M5110-1E
Model
10m KCA-M5110-6E KCA-M5110-7E
Enable switch
–
3-position
CE marking Not supported
Applicable
Model
CONTROLLER INFORMATION
TS-S
HT1
Data cables
Besides data writing, editing and backup functions,
the TS-Manager also offers cycle time simulation
and various types of monitor functions.
Pick & place
robots
Dimensions
Weight
KCA-M53G0-10
Absolute battery
KCA-M53G0-10
Lithium metallic battery
3.6V / 1,650mAh
About 1 year
(in state with no power applied)
ϕ18 × L50mm
24g
YP-X
Model
Item
Model
Battery type
Battery capacity
Data holding time
KCA-M4872-00
KCA-M4873-00
Note. This is a single connector type. (Insert two connectors into a branching socket.)
403
APPLICATION TRANSERVO
TS-S/TS-X/TS-P
Options
Compact
single-axis robots
DIN rail mounting bracket
KCC-M499A-00
TS-S
FLIP-X
Single-axis robots
82
81
162
PHASER
Linear motor
single-axis robots
For TS-S
KCC-M499A-00
30
(81)
Model
12.5
XY-X
Cartesian
robots
SCARA
robots
YK-XG
TS-X
KCA-M499A-00
YP-X
131
167
(86)
For TS-X / TS-P
KCA-M499A-00
58
81
CONTROLLER INFORMATION
TS-X(P)220
TS-X(P)205, TS-X(P)210
TS-X(P)105, TS-X(P)110
25.5
70
58
167
(86)
131
81
(35)
CLEAN
Model
25.5
(35)
Pick & place
robots
TS-P
Robot
positioner
Pulse string
driver
TS-X
KCA-M499A-10
TS-P
Robot
controller
120
For TS-X / TS-P with RGT
KCA-M499A-10
(81)
iVY
Model
81
162
Electric
gripper
Option
404
15
30
TS-Monitor
TS-X TS-P
FLIP-X
The TS Monitor Advantage
Before installing TS Monitor
After installing TS-Monitor
Shows basic info
/
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Simple status display
: ON / : OFF
Run mode
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Current position
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Alarm
occurs.
Error or warning
alarm number
Alarm name
326PP
Shows I/O status
I/O
screen
Displays input/output bit states.
Simple status display
Display
S
E
P
O
L
A
Meaning
Servo status
Emergency stop
Main power failure
Return-to-origin completion status
Interlock status
Alarm
Run mode
Display
NRM
MON
DBG
,2
,1
287
Meaning
Normal mode
Monitor mode
Debug mode
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Input signal status
* Displays the status of
input bit 0 to 15.
Output signal status
* Displays the status of
output bit 0 to 15.
Bit signal correspondence table
STATUS Shows status info
screen Info such as error status or movement status is all at a glance.
Status display
Controller name
Controller software version
Robot name
Point type
CHECK Shows operating status
screen Displays total drive distance
(helpful for preventive maintenance).
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RUN
screen
Internal voltage of controller
Temperature inside controller
Total startup time of controller
(Day : Hour : Minute)
Total movement distance of robot
Run type
326PP
Robot current position
Run point
63'PPV
Robot operation speed
/2$'㸚
Load rate
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Display
HOLD
ABS
INC
ABS MERGE
INC MERGE
ABS PUSH
INC PUSH
ABS->PUSH
INC->PUSH
ORG
Meaning
Servo is off or robot is stopping.
ABS
INC
ABS merge operation
INC merge operation
ABS push operation
INC push operation
ABS deceleration push operation
INC deceleration push operation
Return-to-origin
Dimensions
Robot
positioner
TS-X/TS-P (105/110/205/210) with TS-Monitor
button
button
I/O screen
STATUS
screen
70
(83.5)
ϕ5.4
53
137.5
162
167
58
Option
KCA-M5119-00
KCA-M5119-10
W40.546 × H25.63mm
Graphic monochrome LCD
Blue and red, 2-color LCD
5 steps
128 × 64 dots
4
Electric
gripper
TS-X
Model
TS-P
Effective display size
Screen display
Backlight
Contrast adjustment
Number of display dots
5.4
TS-X/TS-P (220) with TS-Monitor
button
TS-Monitor basic specifications
152
5
EXT connector
iVY
button
R
button
152
button
162
RUN screen
R
EXT connector
5.4
5
button
ϕ5.4
53
137.5
Robot
controller
Alarm occurs.
MAIN screen
button
button
(83.5)
(8)
button
58
(8)
button
(or transits after a
certain period of
time has elapsed.)
4
CHECK
screen
167
INFORMATION
screen
button
Pulse string
driver
Startup
screen
Run type
Info includes position, speed,
load factors and run type.
Screen transition
Transits after a
certain period of
time has elapsed.
Meaning
Servo status
Origin sensor
Push status
Move status
Emergency stop
Main power failure
Return-to-origin completion status
Warning output
Shows operation status and data
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Status display
: ON, : OFF
Display
SRV-S
ORGSEN
TLM-S
MOVE
E-STOP
P-BLK
ORG-S
WARN
CONTROLLER INFORMATION
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CLEAN
8
9
A
B
C
D
E
F
JOG+
SERVO RESET START /LOCK ORG MANUAL JOG0
1
2
3
4
5
6
7
PIN0
PIN1
PIN2
PIN3
PIN4
PIN5
PIN6
PIN7
8
9
A
B
C
D
E
F
BUSY OUT3 OUT2 OUT1 OUT0
END
SRV-S /ALM
OUT
0
1
2
3
4
5
6
7
POUT7 POUT6 POUT5 POUT4 POUT3 POUT2 POUT1 POUT0
IN
INFORMATION Shows machine info
screen Displays the connected robot and version.
YP-X
'%*6
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(
Red backlit display appears during alarms.
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Desired character string
specified by the user.
6
Easy to see error messages
in case of alarm
Pick & place
robots
0$,176021,725
MAIN
screen
Error
Displays optional name or
character string.
SCARA
robots
MAIN
screen
YK-XG
Features
Cartesian
robots
Backlit display is bright and easy to read
even on dark panels.
XY-X
Display shows total operating time, so
scheduling maintenance periods is easy.
Without a handy terminal “HT1”
and PC software “TS-Manager”,
the operator does not know what
caused the alarm and it takes a
time to find out the cause.
PHASER
During errors the backlit display turns red
and operator can see what error occurred
on what controller at a glance.
Linear motor
single-axis robots
Operator instantly knows various
information without hooking to a handy
terminal or PC.
in normal operation
Single-axis robots
Integrated into the controller unit, the TS-monitor needs no connections to the handy terminal or PC and checks operation status, current position, error information, etc. The TS-monitor even allows the operator on the scene or service personnel to easily check the controller status.
Total operating time is also displayed which is convenient to schedule maintenance periods.
Compact
single-axis robots
Applicable controllers
APPLICATION TRANSERVO
LCD Monitor option
405
APPLICATION TRANSERVO
Handy terminal
HT1/HT1-D
Compact
single-axis robots
Applicable controllers
TS-S TS-X TS-P
This Handy Terminal is 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 for easy viewing.
FLIP-X
Single-axis robots
HT1 / HT1-D basic specifications
Name
HT1
Part names and function
Strap holder
HT1-D
Attaching a short strap or
necklace strap here prevents
dropping the HT1 while operating
it or installing it onto equipment.
PHASER
Linear motor
single-axis robots
External view
Emergency stop button
Pressing this button during
operation immediately stops
robot movement. To release
this button, turn it clockwise.
Releasing this button also
cancels emergency stop.
LCD screen
Applicable controllers
XY-X
Cartesian
robots
SCARA
robots
YK-XG
YP-X
Pick & place
robots
CLEAN
TS-S / TS-X / TS-P
KCA-M5110-0J(3.5m) KCA-M5110-1J(3.5m)
Japanese specifications KCA-M5110-6J(10m) KCA-M5110-7J(10m)
Model
KCA-M5110-0E(3.5m) KCA-M5110-1E(3.5m)
English specifications
KCA-M5110-6E(10m) KCA-M5110-7E(10m)
Dot matrix monochrome display (with
Display
backlighting) 32 characters × 10 lines
Operation keys
Mechanical switch
Normally closed contact point
Emergency stop button
(with lock function)
Enable switch
3-position
15 pin D-sub
Safety connector
connector (male)
CE marking
Not supported Applicable
Operating temperature
0°C to 40°C
Operating humidity
35% to 85%RH (non-condensing)
W88 × H191 × D45mm
Dimensions
(Emergency stop button not included.)
260g
300g
Weight
(not including cable) (not including cable)
Cable length
3.5m / 10m
This is a liquid crystal display
(LCD) screen with 32 characters
× 10 lines (pixel display),
showing the operation menus
and various types of information.
Data edit keys
Run/stop keys
Use these keys to select
menus and edit various data.
Use these keys to operate the
robot for teaching or
positioning, or to stop
operation.
The
and
keys are also
provided to move the robot in
jog mode.
Connector cable
This cable connects to the
controller. One end of this cable
is terminated with an 8-pin MD
connector (male). Plug this
cable into the COM1 connector
on the controller front panel.
HT1-D rear side
Enable switch
(only on HT1-D)
This switch is effective for use
with remote safety circuits.
This switch cuts off the circuit
when pressed or released but
allows circuit operation when
in the middle position.
Safety connector
(only on HT1-D)
Use with remote safety circuits
triggered by the emergency
stop button or enable switch.
CONTROLLER INFORMATION
Field network system with minimal wiring
NETWORK
Applicable controllers
TS-S TS-X TS-P
Network modules CC-Link
Option unit with networking functions that can be incorporated in YAMAHA robot controllers, TS-S / TS-X / TS-P.
Robot
positioner
As connection of the robot system and the sequencer
requires only one (4-wire) dedicated cable, it is possible
to save wiring of the entire system, which contributes
to efficient wiring work, reduction of installation and
maintenance costs, etc.
Pulse string
driver
16 input/outputs usable as I/O.
Operation occurs as a CC-Link remote device station,
on a one-unit to one-station basis.
Robot
controller
Remote commands can read or write point data and
load each type of status.
Basic specifications for network modules CC-Link
Item
Applicable controllers
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 nodesNote1
Overall extension distanceNote1
Monitor LED
Network modules CC-Link
TS-S / TS-X / TS-P
Ver. 1.10
Remote device node
1 node
1 to 64
10Mbps, 5Mbps, 2.5Mbps, 625Kbps, 156Kbps
Input 16 points , Output 16 points
0.2m or more
100m/10Mbps, 160m/5Mbps, 400m/2.5Mbps, 900m/625Kbps,
1200m/156Kbps
L RUN, L ERR, SD, RD
Note 1. These values apply when a cable that supports CC-Link Ver.1.10 is used.
Network modules DeviceNet
iVY
Option unit with networking functions that can be incorporated in YAMAHA robot controllers, TS-S / TS-X / TS-P.
Electric
gripper
As connection of the robot system and the sequencer
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
maintenance costs, etc.
16 input/outputs usable as I/O.
Option
Operate as slave stations, with each unit occupying 6
input and 6 output channels.
Remote commands can read or write point data and
load each type of status.
406
Basic specifications for network modules DeviceNet
Item
Applicable controllers
Applicable DeviceNet specifications
Device type
Number of occupied CH
MAC ID setting
Communication speed setting
DeviceNet inputs/outputs
Overall extension distance
Network Branch length
length
Overall branch length
Monitor LED
Network modules DeviceNet
TS-S / TS-X / TS-P
Volume 1 Release2.0/Volume 2 Release2.0
Generic Device (device number 0)
Input 6ch, Output 6ch
0 to 63
500Kbps, 250Kbps, 125Kbps
Input 16 points, Output 16 points
100m/500Kbps, 250m/250Kbps, 500m/125Kbps
6m or less
39m or less/500Kbps, 78m or less/250Kbps,
156m or less/125Kbps
Module, Network
GP4000 Series
Free download of the program file from the Pro-face
home page
http://www.proface.com
TS-S TS-X TS-P
Connecting GP4000 Series made by Pro-face to Robot Positioner, TS-S,TS-X,TS-P enables you to use a lot of functions as well as basic
operations on Touch Operator Interface.
FLIP-X
Single-axis robots
Features
Compact
single-axis robots
Applicable controllers
APPLICATION TRANSERVO
Touch operator interface
1 Can easily check a state and change settings.
• Check the status (the current position, speed etc)
Linear motor
single-axis robots
PHASER
• Basic operations such as Jog operation, inching operation, return to origin, error reset etc.
• Set, edit, or back up point data and parameters
• Check triggered alarms and detailed descriptions of alarm history
Server
XY-X
2 Supports 3 languages
Cartesian
robots
Pro-face
GP4000 Series
• Supports Japanese, English, and Chinese (simplified,
traditional)
LAN
SCARA
robots
Up to 16 single-axis robot positioners can be connected.
YK-XG
Without opening the control panel, you can check
the status and change the settings on Touch
Operator Interface alone.
RS-232C
YP-X
Pick & place
robots
RS-422
Control Device
CLEAN
I/O Monitor Screen
Information Monitor Screen
When a problem occurs, you can
check the detailed descriptions of
the alarm history, so you can understand easily what the cause is.
Displays both general I/O and dedicated I/O together. You can quickly
check the I/O status.
The screen can display the robot
status and the operation status. You
can check immediately the robot
condition.
Position Data Editing Screen
Parameter Editing Screen
Connecting Selection Screen
You can edit and back up point data
(255 points).Note
While checking parameters of robot
positioners in the list, you can set
them with the pull-down menu.
You can connect up to 16 robot positioners simultaneously with GP-Pro
EX Ver.3.0 multi-axis feature.
Robot
positioner
Diagnostic Screen
CONTROLLER INFORMATION
Screen details
Pulse string
driver
Robot
controller
Note. Settings for it and a USB storage required.
iVY
Electric
gripper
Option
Contact; Pro-face TEL:06-6613-1101 FAX:06-6613-5888
407