Compatible Devices
Yamaha TS Series Robot Controller [g3-yamts | Word]
Verified Device
Yamaha TS-X [g3-yamts | Word]
Accessing Data
The programmer is responsible for ensuring only valid data is sent to the TS controller.
- Errors are stored in Latest Error Message
- Map this to a string tag (ASCII Big‑Endian)
- Element mapping:
- Element 0 → command that caused the error
- Element 6+ → returned error message [g3-yamts | Word]
Accessible Data
| Prefix | Description | Range |
|---|---|---|
| M | Operation Type | 1–255 |
| P | Position | 1–255 |
| S | Speed | 1–255 |
| AC | Acceleration | 1–255 |
| DC | Deceleration | 1–255 |
| Q | Push | 1–255 |
| ZL | Zone (-) | 1–255 |
| ZH | Zone (+) | 1–255 |
| N | Near Width | 1–255 |
| J | Jump | 1–255 |
| F | Flag | 1–255 |
| T | Timer | 1–255 |
| K | Parameter Data | 1–138 |
Command Registers (Write Only)
Commands execute when the bit is set and must be cleared before reuse.
| Prefix | Description | Notes |
|---|---|---|
| START | Positioning Operation | Requires point value |
| STOP | Stop Operation | * |
| ORG | Return-to-Origin | * |
| JOG+ | Jog (+ direction) | * |
| JOG- | Jog (– direction) | * |
| INCH+ | Inch (+ direction) | * |
| INCH- | Inch (– direction) | * |
| SRVO | Servo Control | Set=ON, Clear=OFF |
| BRK | Brake Control | Set=ON, Clear=Release |
| RESET | Reset Controller | * |
| TEACH | Teach Position | Element = destination point |
| COPY | Copy Point Data | Source → destination |
| DELETE | Delete Point Data | Start → end range |
* Command executes when bit is set and must be cleared before reuse [g3-yamts | Word]
Read-Only Data
| Prefix | Description | Range |
|---|---|---|
| D | Status Information | 0–20 |
| IN | Input Information | — |
| INB | Input Bits | 0–15 |
| OUT | Output Information | — |
| OUTB | Output Bits | 0–15 |
| WIN | Input Word Data | 0–3 |
| WOUT | Output Word Data | 0–3 |
| OPT | Option Information | 0–2 |
| OPTB | Option Bits | 0–31 |
| ALM | Alarm Information | 1–32 |
| WARN | Warning Information | 1–32 |
Cable Information
Serial
| G3 RS232 | TS-X RS232 |
|---|---|
| CBLGEN01 | KCA-M538F-000 |
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