Circuit Configuration Examples Ts-S Ts-S2 Ts-Sh; Category - Yamaha TS-S User Manual

12.2
Safety circuit configuration examples are shown below.
Customers should install the appropriate safety measures for their system by referring to these safety circuit
configuration examples in order to use the robots more safely.
12.2.1 Categor y 3
2
A safety circuit configuration example of category 3 is shown below.
Category 3 safety circuit example
TS-S
AC power
L
N
Parts list
Circuit No.
S1
S2
S3
KM1,2
SRL1
2-30
Circuit configuration examples TS-S TS-S2 TS-SH
TS-S2 TS-SH
Power wiring
DC power
Circuit
Earth
protector
Noise
leakage
AC/DC
circuit
filter
breaker
Circuit
Surge
protector
absorber
Circuit
protector
S1
AUTO/MANUAL mode selection
MODE a b
AUTO Close Open
a
MANUAL Open Close
b
S2
Safety door
S3
External
emergency stop
Part name
Key selector switch
Safety door switch
Emergency stop button
Safety relay (linked contact)
Socket for safety relay
Safety controller
Safety circuit
KM1
SRL1
+24V
G9SP
V1,V2
G1,G2
T0
O0
O1
IN8
O2
T2
IN0
IN1
T2
IN2
T3
IN3
IN4
IN5
T2
T3
IN6
IN7
Type No.
A22TK series
D4 series
A22E series
G7SA-3A1B
P7SA-10F-ND
G9SP series
Controller
DC IN
24V
CP24V
0V
0V
KM2
24V
MP24V
FG
ES1
ES2
E-STOP status
ES-
HT1-D
Emergency stop Enable
HT1-D
SAFETY
1
2
3
4
5
6
7
8
14
15
Manufacturer
OMRON
OMRON
OMRON
OMRON
OMRON
OMRON
COM1
7
8
7
8
23208-M3-00