Ext Connector Signal Names And Functions; Configuring An Emergency Stop Circuit Ts-X Ts-P - Yamaha TS-S User Manual

10. Configuring an emergency stop circuit TS-X TS-P
The EXT connector provides functions for configuring safety circuits, including the robot.
The following shows the EXT connector wiring and an example of connection with the host controller.
10.1 EXT connector signal names and functions
The following explains the EXT connector signal names and functions.
The EXT connector contains the robot's external safety circuit signals used for safe stops, and for the brake
power supply terminal on robots equipped with brakes.
Signal List
n
EXT connector
Signal Details
n
• Power input for mechanical brake (+24V, 0V)
This input supplies power for the mechanical brake.
Signal Name
+24V
0V
Explanation
When using a brake-equipped robot, this terminal serves as the 24VDC input to power the brake. If the robot has no
brake, this terminal connection is not required.
Brake power supply: 24VDC ± 10% 300mA
• Internal power for emergency stop input (ES+), and emergency stop READY signal (ES-)
These signals are used by the external safety circuit (e.g., safety enclosure, manual switch, etc.) in order to perform
robot emergency stops.
Signal Name
ES+
ES-
Explanation
An emergency stop status is established when the relay contact between ES+ and ES- is open (OFF), and a "servo OFF"
status also occurs at that time.
w
DANGER
DIRECtly ShoRt-CIRCuItING thE EXt CoNNECtoRS ES+ AND ES- SIGNAlS WIll DISABlE EXtERNAl EMERGENCy
StopS (INCluDING thE hANDy tERMINAl'S EMERGENCy Stop ButtoN), thEREBy CREAtING AN EXtREMEly
hAzARDouS CoNDItIoN. BE SuRE to uSE ES+ AND ES- So thAt thE EXtERNAl SAfEty CIRCuIt fuNCtIoNS
pRopERly.
1
2
3
4
5
6
7
8
Description
Power input for mechanical brake
Description
Internal power for emergency stop input
Emergency stop input (emergency stop READY signal)
Pin No. Signal Name
1 +24V
Power input for mechanical brake
(TS-X only)
2 0V
3 ES+ Internal power for emergency stop input
4 ES1 Emergency stop contact 1
5 ES2 Emergency stop contact 2
6 ES- Emergency stop READY signal
7 MPRDY1
"Main power input READY" output contact
8 MPRDY2
Description
23211-M1-00
Type
Input
Type
Output
Input
2-21
2