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
406
Robot
positioner
Pulse string
driver
Robot
controller iVY
Option
Electric
gripper
Handy terminal
HT1/HT1-D
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.
HT1 / HT1-D basic specications
Name HT1 HT1-D
External view
Applicable controllers TS-S / TS-X / TS-P
Model
Japanese specications
KCA-M5110-0J(3.5m)
KCA-M5110-6J(10m)
KCA-M5110-1J(3.5m)
KCA-M5110-7J(10m)
English specications
KCA-M5110-0E(3.5m)
KCA-M5110-6E(10m)
KCA-M5110-1E(3.5m)
KCA-M5110-7E(10m)
Display
Dot matrix monochrome display (with
backlighting) 32 characters × 10 lines
Operation keys Mechanical switch
Emergency stop button
Normally closed contact point
(with lock function)
Enable switch - 3-position
Safety connector -
15 pin D-sub
connector (male)
CE marking Not supported Applicable
Operating temperature 0°C to 40°C
Operating humidity 35% to 85%RH (non-condensing)
Dimensions
W88 × H191 × D45mm
(Emergency stop button not included.)
Weight
260g
(not including cable)
300g
(not including cable)
Cable length 3.5m / 10m
Part names and function
Attaching a short strap or
necklace strap here prevents
dropping the HT1 while operating
it or installing it onto equipment.
Strap holder
This is a liquid crystal display
(LCD) screen with 32 characters
× 10 lines (pixel display),
showing the operation menus
and various types of information.
LCD screen
Use these keys to select
menus and edit various data.
Data edit keys
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.
Connector cable
Pressing this button during
operation immediately stops
robot movement. To release
this button, turn it clockwise.
Releasing this button also
cancels emergency stop.
Emergency stop button
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.
Run/stop keys
Option unit with networking functions that can be incorpo-
rated in YAMAHA robot controllers, TS-S / TS-X / TS-P.
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 efcient wiring work, reduction of installation and
maintenance costs, etc.
16 input/outputs usable as I/O.
Operation occurs 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 type of status.
Option unit with networking functions that can be incorpo-
rated in YAMAHA robot controllers, TS-S / TS-X / TS-P.
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 efcient wiring work, reduction of installation and
maintenance costs, etc.
16 input/outputs usable as I/O.
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.
Basic specications for network modules CC-Link
Item Network modules CC-Link
Applicable controllers TS-S / TS-X / TS-P
Version supporting CC-Link Ver. 1.10
Remote node type Remote device node
Number of occupied nodes 1 node
Node number setting
1 to 64
Communication speed setting 10Mbps, 5Mbps, 2.5Mbps, 625Kbps, 156Kbps
No. of CC-Link inputs/outputs Input 16 points , Output 16 points
Shortest distance between nodes
Note1
0.2m or more
Overall extension distance
Note1
100m/10Mbps, 160m/5Mbps, 400m/2.5Mbps, 900m/625Kbps,
1200m/156Kbps
Monitor LED L RUN, L ERR, SD, RD
Note 1. These values apply when a cable that supports CC-Link Ver.1.10 is used.
Basic specications for network modules DeviceNet
Item Network modules DeviceNet
Applicable controllers TS-S / TS-X / TS-P
Applicable DeviceNet specications Volume 1 Release2.0/Volume 2 Release2.0
Device type Generic Device (device number 0)
Number of occupied CH Input 6ch, Output 6ch
MAC ID setting 0 to 63
Communication speed setting 500Kbps, 250Kbps, 125Kbps
DeviceNet inputs/outputs Input 16 points, Output 16 points
Network
length
Overall extension distance 100m/500Kbps, 250m/250Kbps, 500m/125Kbps
Branch length 6m or less
Overall branch length
39m or less/500Kbps, 78m or less/250Kbps,
156m or less/125Kbps
Monitor LED Module, Network
Network modules CC-Link
Network modules DeviceNet
Field network system with minimal wiring
NETWORK
Applicable controllers TS-S TS-X TS-P
HT1-D rear side
Use with remote safety circuits
triggered by the emergency
stop button or enable switch.
Safety connector
(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.
Enable switch
(only on HT1-D)