Circuit Configuration Examples Ts-X Ts-P; Category - Yamaha TS-S User Manual

12.3
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.
12.3.1 Categor y 3
2
A safety circuit configuration example of category 3 is shown below.
Category 3 safety circuit example
TS-X TS-P
AC power
L
N
DC power
+24V
GND
Parts list
Circuit No.
S1
S2
S3
KM1,2
KA1,2
SRL1
2-32
Circuit configuration examples TS-X TS-P
Power wiring
Earth
Circuit
Noise
leakage
protector
circuit filter
breaker
Surge
Circuit
absorber
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 switch
Contactor (mirror contact)
Safety relay
Socket for safety relay
Safety controller
Safety circuit
KM1
SRL1
G9SP
+24V
T0
O0
V1,V2
G1,G2
O1
IN10
KA1
T1
T2
O2
IN0
O3
IN1
IN11
+24V
IN8
T2
IN2
T3
IN3
T2
IN12
T3
IN13
T2
IN4
T3
IN5
IN6
IN7
Type No.
A22TK series
D4 series
A22E series
3RT20**-1FB42
G7SA-3A1B
P7SA-10F-ND
G9SP series
Controller
AC IN
L1
Control power
N1
KM2
L
Motor power
N
EXT
3 ES+
+24V
4 ES1
5 ES2
KA2
6 ES-
E-STOP
status
7 MPRDY1
8 MPRDY2
HT1-D
Emergency stop Enable
HPB
SAFETY
1
2
3
4
5
6
7
8
14
15
Manufacturer
OMRON
OMRON
OMRON
SIEMENS
OMRON
OMRON
OMRON
COM1
7
8
7
8
23221-M1-00