Yamaha TS-S User Manual page 42

Considering generated heat amount
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Use the following tables as a guide to determine the control panel size, controller installation method, and cooling means.
TS-S, TS-S2
Signal Details
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2
• Emergency stop READY signal (ES-)
This signal is used by the external safety circuit (e.g., safety enclosure, manual switch, etc.) in order to perform robot
emergency stops.
Signal Name
Explanation
An emergency stop status is established when this signal input is switched OFF, and a "servo OFF" status also occurs at
that time.
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. (REfER to SECtIoN 9, "CoNfIGuRING AN EMERGENCy Stop CIRCuIt ".)
• Emergency stop contacts 1, 2 (ES1, ES2)
Signal
Name
ES1
ES2
Explanation
When using a Handy Terminal which has no ENABLE switch, ES1 and ES2 serve as the Handy Terminal emergency stop
button's contact outputs.
When using a Handy Terminal which has an ENABLE switch, ES1 is connected to Handy Terminal's safety connector
Pin No.14, and ES2 is connected to Pin No.15.
ES1 and ES2 should be used when building an external safety circuit.
Load: 24VDC 300mA Max.
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NOTE
ES1 and ES2 will be short-circuited if the accessory dummy connector is connected to COM1.
Power supply connector wiring procedure
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c
CAutIoN
• Disconnect the power connector from the controller before wiring.
• Only one wire can be inserted into one wire hole of the power connector.
• When inserting the wire into the terminal, use care to prevent the core wire from making contact with other conductive parts.
• If the inserted portion of the wire is frayed, etc., cut off that portion and restrip the wire, then connect the wire securely.
The usable wire size is 0.5 to 0.75sq (AWG20 to 18). Strip the sheath from the wire and insert it as shown below.
Insert the core wire into the power supply connector's hole as shown below, then verify that the wire is locked (cannot
be pulled out).
2-6
Model Generated heat amount (W)
18
TS-SH 25
ES- Emergency stop input (emergency stop READY signal)
When using Handy Terminal without an ENABLE switch
Handy Terminal's emergency stop contact output 1
Handy Terminal's emergency stop contact output 2
Wiring method
Description
Description
When using Handy Terminal with an ENABLE switch
Connected to Handy Terminal's safety connector Pin No.14
Connected to Handy Terminal's safety connector Pin No.15
Insert the wire while pushing the orange part.
Type
Input
23203-M3-00