Configuring An Emergency Stop Circuit Ts-S Ts-S2 Ts-Sh - Yamaha TS-S User Manual

9. Configuring an emergency stop circuit TS-S TS-S2 TS-SH
The power supply connector provides functions for configuring safety circuits, including the robot. The
following shows a power connector and host unit connection example.
2
w
DANGER
IN oRDER to flEXIBly ACCoMMoDAtE thE vARIouS SAfEty CAtEGoRIES REquIRED By CuStoMERS, thIS
CoNtRollER IS Not EquIppED WIth AN INtERNAl MAIN poWER Shutoff CIRCuIt.
thEREfoRE, BE SuRE to INStAll AN EXtERNAl MAIN poWER Shutoff CIRCuIt AND AN "EMERGENCy Stop" CIRCuIt.
w
DANGER
DIRECtly CoNNECtING A poWER Supply (+24v) to ES- WIll DISABlE EXtERNAl EMERGENCy StopS (INCluDING thE
hANDy tERMINAl'S EMERGENCy Stop ButtoN), thEREBy CREAtING AN EXtREMEly hAzARDouS CoNDItIoN. BE SuRE
to uSE A CoMBINAtIoN of ES-, ES1, AND ES2 tERMINAlS IN oRDER to CoNfIGuRE AN EMERGENCy Stop CIRCuIt.
Emergency stop circuit connected in daisy chain
Handy Terminal
External 24V External 24V
External 0V
w
DANGER
IN oRDER to flEXIBly ACCoMMoDAtE thE vARIouS SAfEty CAtEGoRIES REquIRED By CuStoMERS, thIS
CoNtRollER IS Not EquIppED WIth AN INtERNAl MAIN poWER Shutoff CIRCuIt.
BE SuRE to CoNfIGuRE AN EXtERNAl MAIN poWER Shutoff CIRCuIt to foRM AN EMERGENCy Stop CIRCuIt.
c
CAutIoN
• Be sure to check the contact capacity of the relay contact. If the capacity is insufficient, use multiple contacts
as needed. (*1 in the diagram)
• Connect a load with a current of 300 mA or less to the emergency stop wiring using ES1 and ES2. If a load with a
current of more than 300 mA is connected or if a current of more than 300 mA flows without connecting any
load, the controller may malfunction. (*2 in the diagram.)
2-20
Emergency stop circuit
External 24V
External 0V
Controller
COM1
External 24V
ES1
ES
ES2
status
ES-
MP24V
CP24V
0V
Internal
GND
External 0V
External 0V
*2
COM1
Handy Terminal
External
"emergency stop"
ES1
ES2
ES-
MP24V
CP24V
0V
External 0V
Controller
COM1
ES1
ES2
ES-
MP24V
CP24V
0V
Internal
GND
External 0V
*2
Controller
ES
Status
Internal
GND
COM1
External 24V
ES1
ES2
ES
status ES-
MP24V
CP24V
0V
External 0V
External 0V
*2
External 0V
23206-M3-00
Controller
ES
status
Internal
GND
External
"emergency
stop"
External 24V
*1
Relay
23207-M3-00