Yamaha TS-S User Manual page 44

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.
2
The usable wire size is 1.25 to 2.5 sq (AWG16 to 12) or more. Strip the sheath from the wire and insert it as shown
below. (Please note that when wire of AWG 12 is used, it may not be connected depending on the sheath outer diameter.
Use either of the following methods to insert the core wire into the power supply connector's hole, then verify that the
wire is locked (cannot be pulled out).
Ground terminal
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The controller must be grounded to prevent electrical shocks in case of electrical leakage, and to prevent equipment
malfunctions due to electrical noise.
A Class D or higher grounding (grounding resistance of 100Ω or less) is required.
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WARNING
BE SuRE thAt GRouND IS SECuREly CoNNECtED.
Tighten the ground terminal screw to the torque shown below.
Recommended Tightening Torque
Considering power capacity and generated heat amount
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The required power capacity and generated heat amount depend on the robot model.
Use the following tables as a guide to prepare a power supply and to determine the control panel size, controller
installation method, and cooling means.
Axis current sensor value
Installing wiring breakers
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Leakage breaker
The controller drives the motors by PWM control, thereby creating a high-frequency leakage current flow which could
cause external leakage breaker malfunctions. Therefore, when installing an external leakage current breaker, be sure to
select the optimum sensitivity current rating (I∆n). (Refer to the leakage breaker manufacturer's data sheets to select the
optimum product compatible with inverters.)
Main power supply (L,N)
Control power supply (L1, N1)
2-8
Wiring method
Using the accessory
wire-release lever:
Wire-release lever
Power capacity (VA)
5
10
20
Power Supply Type
Using a flat-blade screwdriver
0.75N·m
Generated heat amount (W)
400 20
600 25
1400 45
Leakage Current
Total 1mA
For 200VAC
L
N
L1
N1
For 100VAC
L
N
NC
L1
N1
23204-M1-00