Specifications

APPLICATION
Compact
single-axis robots
TRANSERVO
Single-axis robots
FLIP-X
Linear motor
single-axis robots
PHASER
Cartesian
robots
XY-X
SCARA
robots
YK-XG
Pick & place
robots
YP-X CLEAN
CONTROLLER
INFORMATION
358
Robot
positioner
Pulse string
driver
Robot
controller iVY Option
TS-S/TS-X/TS-P
Data overview
Point data and parameter data settings must be specifi ed in order to operate a 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. There are two point data setting types: “Standard setting” type that automatically
defi nes 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
Parameter data is divided into the following categories: “RUN parameters”, “I/O parameters”, “option parameters”, and “servo
parameters”.
Data structure
P1 to P255
RUN type
Position
Speed
Accel.
Decel.
Push
Data
Point data
Parameter data
1
2
3
4
5
6
Zone ( )
Zone (+)
Near width
Jump
Flag
Timer
7
8
9
10
11
12
K1 to K20
RUN parameter
K21 to K39
I/O parameter
K80 to K99
Option parameter
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.
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.
(1) Standard setting
Optimum positioning is provided simply by specifying the
payload.
(2) Custom setting
Speed and acceleration can be set in SI units.
Point data
Point data item list
P1 to P255
Item Description
1 RUN type Specifi es the positioning operation pattern.
2 Position Specifi es the positioning target position or movement amount.
3 Speed Specifi es the positioning speed.
4 Accel. Specifi es the positioning acceleration.
5 Decel. Specifi es the positioning deceleration (as a percentage of the acceleration).
6 Push Specifi es the electrical current limit value for “Push” operations.
7 Zone (-)
Specifi es the “personal zone” output range.
8 Zone (+)
9 Near width Specifi es the “near width” zone (distance tolerance relative to target position).
10 Jump
Specifi es the next movement destination, or the next merge operation merge destination point No. following positioning completion.
11 Flag Specifi es other information related to the positioning operation.
12 Timer Specifi es 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.
The maximum number of setting points for both setting types is 255 points (P1 to P255).
Setting Type Description
Standard setting
Optimum positioning is provided simply by specifying the payload.
This setting type is well-suited to assembly and transport applications.
Custom setting
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.