Toshiba TSL3000E Interface Manual Download

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INTERFACE MANUAL

STE 85457

Section 5

Serial I/O Signal Cable

5.1

Connecting Serial I/O Signal Cables

The TSL3000E/TSL3100E robot controller is provided with two (2) channels of

RS-232C serial I/O signals COM1 and 2. For the connection, see the figure below.

It is recommended to use commercially available cables.

Using a surge protector is also recommended in order to protect serial I/O signals

from an electrostatic discharge-induced surge or switching surge.

Recommended surge protector: RSP-232-9 manufactured by Okaya Electric

Industries Co., Ltd.

RXD

TXD

DTR

GND

RTS

CTS

RXD

TXD

DTR

GND

DSR

RTS

CTS

Dsub-9S

Robot controller

Commercially available cross

cables for DOS/V personal

computer

Case

DOS/V personal computer

Case

Inch screw

User side

Connector

Fig. 5.1 Connection of serial I/O signals HOST/TCPRG and COM1

Summary of Contents for TSL3000E

Page 1: ... the final user of Toshiba Machine s industrial robot Before operating the industrial robot read through and completely understand this manual After reading through this manual keep it nearby for future reference TOSHIBA MACHINE CO LTD TOKYO JAPAN TSL3000E SCARA system TSL3100E 6 Axis system ...

Page 2: ...ine Co Ltd All rights reserved No part of this document may be reproduced in any form without obtaining prior written permission from Toshiba Machine Co Ltd The information contained in this manual is subject to change without prior notice to effect improvements ...

Page 3: ... can allows external operation of the controller system output signals informing an operator of the controller status PLC processing function and serial input and output signals that can be connected with the host computer etc are provided so that the user can easily construct an FA system Instruction manuals which are referred to from this manual Installation Transport Manual Maintenance Manual S...

Page 4: ...s 1 or physical damage 2 1 Injuries refer to injuries burns and electric shocks etc which do not require hospitalization or long term medical treatment 2 Physical damage refers to damages due to destruction of assets or resources Explanation of symbols Symbol Meaning of symbol This means that the action is prohibited must not be done Details of the actions actually prohibited are indicated with pi...

Page 5: ...TERFACE MANUAL STE 85457 CAUTION To perform the work ranging from robot installation to operation with safety read through and through the Safety Manual provided separately before actually starting the work ...

Page 6: ...regulations CAUTION Disassembly Prohibited The user should NEVER replace or change parts other than those stipulated in the instruction manual Otherwise the performance will deteriorate resulting in troubles Mandatory To replace parts use the spare parts designated by Toshiba Machine Carry out the maintenance and inspection on a regular basis Otherwise the equipment may go wrong or accidents will ...

Page 7: ...AN Cable LAN 13 1 13 PE Cable PE 13 1 14 Fieldbus Cable Fieldbus 14 1 15 CONV Cable CONV 14 1 16 TRIG Cable TRIG 14 1 17 Extension I O Signal Cable 14 1 17 1 Extension Input Signal Cable INPUT TR 14 1 17 2 Extension Output Signal Cable OUTPUT TR 15 Section 2 Power Cable 16 2 1 Connecting the Power Cable 16 Section 3 Robot Control Cable 18 3 1 TSL3000E Motor Drive Cable 4 Axis Type 18 3 2 TSL3100E ...

Page 8: ...nal Cable 85 4 12 Example of Controller Operation Using External Signals 86 4 13 Definition of Colors for Operation Buttons and Indicator Lamps 91 Section 5 Serial I O Signal Cable 92 5 1 Connecting Serial I O Signal Cables 92 5 2 Attaching and Detaching Serial I O Signal Cables 93 Section 6 Teach Pendant Cable 94 6 1 External View and Functional Names of the TP1000 94 6 2 Connecting Teach Pendant...

Page 9: ...0 Connection of Conveyor Synchronization Signal Cable CONV Option 116 10 1 Fabricating Incremental Encoder Input Signal Cable 117 10 2 Attaching and Detaching Incremental Encoder Input Signal Cable 118 Section 11 LAN Signal Cable LAN 120 Section 12 MEM Cable MEM 121 Section 13 Connecting External I O Power Supply Cable 122 Appendix 1 System Signal Table 123 Appendix 2 Fabricating Cable Using D sub...

Page 10: ...me of Connectors 4 Axis Type 6 Axis Type combined The TSL3000E TSL3100E robot controller is connected with the robot and external equipment using connectors and terminal blocks provided on the front and rear panels of the controller Front panel Fig 1 1 Layout and name of connectors ...

Page 11: ...r signal for rotation angle detection of each robot axis Connector ROBOT is used For details see the Installation Transport Manual provided separately 1 4 Hand I O Cable HAND Fig 1 1 17 The hand I O cable connects the TSL3000E TSL3100E robot controller and robot It controls the hand at the end of the robot Connector HAND is used For details see the Instruction Manual Installation Transport provide...

Page 12: ...sing the SCOL language or PLC function and thirteen 13 system input signals that allow operation of the controller from the external equipment This signal together with the external output signal in Para 1 4 2 allows the robot controller to work in concert with the external equipment Also three 3 system input signals of external servo ON external servo OFF and external emergency stop are included ...

Page 13: ...th this sequence control tool For the use of TCPRGOS see the Simple PLC Function Manual option provided separately The connector HOST TCPRG is used The setting can be switched between HOST and TCPRG using the switch above the connector 1 8 Teach Pendant Cable TP Fig 1 1 7 with dummy plug This is an interface connecting the TSL3000E TSL3100E robot controller and teach pendant TP The teach pendant i...

Page 14: ... other data The connector MEM is used 1 12 LAN Cable LAN Fig 1 1 13 This supports connection by 10BASE T in the TSL3000E TSL3100E robot controller If a hub is used a straight cable is used If the computer and controller are connected directly one to one a cross cable is used Also TCP IP protocol can be used to perform communication with computers or visual equipment on the Ethernet within the same...

Page 15: ...rd with eight 8 trigger input functions This is used for data latch function conveyor synchronization function etc The D sub15 pin connector located on the top of the front panel is TRIG Connector TRIG is used 1 17 Extension I O Signal Cable 1 17 1 Extension Input Signal Cable INPUT TR Fig 7 3 14 option This is an interface which inputs an external signal from the external equipment to remote I O ...

Page 16: ...with twenty 20 digital output signals that can be programmed at the user s discretion using the SCOL language or PLC function The extension output signal together with the external input signal or extension input signal allows the robot controller to work in concert with the external equipment Connector OUTPUT TR is used Note To discriminate from the OUTPUT cable connector of the TSL3000E TSL3100E...

Page 17: ...04 18CK 13 Manufacturer JAE Japan Aviation Electronics Industry Limited Cable 2 0 mm 2 AWG 14 The cable is not included in the accessories The attached plug connector connected to the ACIN of the controller is soldering type The customer must use the attached connector to fabricate the cable Table 2 1 Power Supply Specifications Power supply Single phase 190 240 V AC 50 60 Hz 1 Hz Power capacity V...

Page 18: ...anism e g a handle and installed 0 6 m to 1 9 m above the ground so that they can be easily accessed All the power circuit phases must be shut down However DO NOT disconnect the ground wire or PE cable For details on the power cable connection see the Installation Transport Manual provided separately CAUTION In order to prevent direct or indirect contact with the robot controller provide a suffici...

Page 19: ...bot and controller V1 W1 U2 V2 W2 1 2 3 1 2 3 U1 Robot body U V W U V W 4 U3 V3 U4 V4 W4 W3 E SM Axis 1 4 SM 1 2 3 U V W E 4 SM E 1 2 3 U V W E 4 SM A1 ROBOT MOTAP A2 A3 B1 B2 B3 A4 A1 A2 A3 B1 B2 B3 A4 MOTBP J1AS J2AS J3AS J4AS Cable Clamp Robot controller A1 FG CASE A2 A3 A4 A5 A6 A8 A9 A10 A11 A12 A13 FG Axis 2 Axis 3 Axis 4 Fig 3 1 Connection of motor drive cables ...

Page 20: ...V W U V W 4 U3 V3 U4 V4 W4 W3 FG CASE E SM J1AS 4 SM 1 2 3 U V W E 4 SM E 1 2 3 U V W E 4 SM A1 A2 A3 A4 A5 A6 A8 A9 A10 A11 A12 A13 ROBOT A2 A3 B1 B2 B3 B4 A1 A2 A3 B1 B2 B3 B4 U5 V5 U6 V6 W6 W5 1 2 3 U V W E 4 SM 1 2 3 U V W E 4 SM A15 A16 A17 A18 A19 A20 A1 A2 A3 B1 B2 B3 B4 Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 FG Cable Clamp J2AS J3AS J4AS J5AS J6AS MOT3 MOT2 MOT1 Fig 3 2 Connection of mo...

Page 21: ...onnect the brakes use the attached cables Cable connecting robot and controller Robot body P24V BRAKE P24G 1 2 1 2 BRAKE P24G P24V BRAKE B9 B10 B8 A9 ENCBP J3DS BRAKES Cable Clamp Robot controller A1 FG B1 A2 A6 B6 BRK B2 A3 B3 A4 B4 A5 B5 Fig 3 3 Connection of brake cables ...

Page 22: ...1 A2 A6 B6 BRK BRA1 J1DS 1 2 BRAKE P24V BRAKE B2 A3 B3 A4 B4 A5 B5 P24V A1 B1 A2 B2 A3 B3 1 2 J2DS P24V 1 2 BRAKE J3DS P24V BRA2 A1 B1 A2 B2 A3 B3 J4DS P24V BRAKE 1 2 J5DS P24V BRAKE J6DS P24V BRAKE 1 2 1 2 A4 B4 FG Cable Clamp BRA A1 B1 A2 B2 A3 B3 A4 B4 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Fig 3 4 Connection of brake cables For the motor drive cable connection see the Installation Transport Manual...

Page 23: ...RQ SD 3RQ SD P5V LG 1 2 GND VB 3 FG 4 5 7 8 Axis 4 encoder 4RQ SD 4RQ SD P5V LG 1 2 GND VB 3 FG Backup battery 1 3 VB GND 1RQ SD 1RQ SD P5V LG 2RQ SD 2RQ SD P5V LG 3RQ SD 3RQ SD P5V LG 4RQ SD 4RQ SD P5V LG A1 A9 C2 C13 C19 C3 C4 C14 C20 C5 C6 C15 C21 C7 C8 C16 C22 ENCBS A2 A10 B4 A3 A4 B1 B5 A5 A6 B2 B6 A7 A8 B3 B7 ROBOT Robot body Cable connecting controller and robot Cable Clamp J1BS J2BS J3BS J...

Page 24: ...SD 1RQ SD P5V LG 2RQ SD 2RQ SD P5V LG 3RQ SD 3RQ SD P5V LG 4RQ SD 4RQ SD P5V LG 4 5 7 8 Axis 5 encoder 1 2 3 4 5 7 8 J6BS Axis 6 encoder 1 2 3 C9 C10 C17 C23 C11 C12 C18 C24 B1 B2 B3 B4 B5 B6 B7 B8 5RQ SD 5RQ SD P5V LG 6RQ SD 6RQ SD P5V LG A5 B5 B9 FG J5BS 1RQ SD 1RQ SD P5V LG J1BS GND VB FG 2RQ SD 2RQ SD P5V LG J2BS GND VB FG 3RQ SD 3RQ SD P5V LG J3BS GND VB FG 4RQ SD 4RQ SD P5V LG J4BS GND VB FG...

Page 25: ... CN0 cable motor drive power connections on the robot side Connection for Type N FG SYSINCOM A1 B10 1 1 Robot controller ROBOT Robot body Cable connecting controller and robot 2 3 4 5 6 8 7 9 10 JOES 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8 9 CN0 11 12 13 14 15 16 17 18 19 Cable Clamp JOFS B1 A2 B2 A3 B3 A4 B4 A5 B5 A6 B6 A7 B7 A8 B8 A9 B9 Note SYSINCOM is connected to the 17 and 30 pins of the INPUT co...

Page 26: ...le Clamp JOFS B1 A2 B2 A3 B3 A4 B4 A5 B5 A6 B6 A7 B7 A8 B8 A9 B9 SYSOUTCOM P24V P24G P24V P24G 201 202 203 204 205 206 207 208 201 202 203 204 205 206 207 208 signal name of DIN command and DOUT command Source type common Note SYSINCOM is connected to the 17 and 30 pins of the INPUT connector Source type common Note SYSOUTCOM is connected to the 10 and 23 pins of the OUTPUT connector Fig 3 8 Conne...

Page 27: ...Robot body Cable connecting controller and robot B1 A2 B2 A3 B3 A4 B4 B5 A6 B6 A7 B7 A8 B8 A9 A5 A10 HIN 2 3 4 5 6 7 8 10 P24G 1 2 3 4 6 7 B9 9 FG 1 2 3 4 5 6 1 2 3 4 5 6 1 2 3 4 5 6 1 2 3 3 1 2 5 8 9 10 Recommended 10 pin canon connector part number Angle type JN2FS10SL2 R JAE Contact JN1 22 22S PK100 JAE These connectors with cables 1 m or 2 m can be provided optionally User wiring Cable Clamp H...

Page 28: ...r part number Angle type JN2FS10SL2 R JAE Contact JN1 22 22S PK100 JAE These connectors with cables 1 m or 2 m can be provided optionally User wiring Cable Clamp HAND HIN HIN HOUT HOUT1 HOUT2 201 202 203 204 201 202 203 204 Sink type common P24G SYSINCOM Source type common SYSOUTCOM Note SYSOUTCOM is connected to the 10 and 23 pins of the OUTPUT connector Note SYSINCOM is connected to the 17 and 3...

Page 29: ... used Connector name Type of connector Maker CN0 XM3A 2521 plug type connector XM2S 2511 connector cover OMRON OMRON b Select the cables which meet the following specifications Core wires 0 18 mm2 to 0 32 mm2 twisted wires Cable outer diameter Max 10 mm Shield Batch braided shield Cable length 30 m or less NEVER use cables which do not conform to the specifications Otherwise short circuit or cable...

Page 30: ...et the following specifications Core wires 0 2 mm 2 twisted wires Cable outer diameter Max 10 mm Shield Batch braided shield Cable length 30 m or less NEVER use cables which do not conform to the specifications Otherwise short circuit or cable melting due to overheated cable core may be caused Additionally the robot may work improperly due to noise 3 10 Attaching and Detaching Hand I O Signal Cabl...

Page 31: ...input signal For the connection of the common wire see Figs 4 3 and 4 4 All hand output signals turn off when the controller power is turned off or turned on Therefore the end effector should be designed so that a product will not drop from the hand at the time of power failure The hand I O signals can be controlled by a program created with the robot language In the robot language program the han...

Page 32: ...t The hand output signal cannot be reset by the RESET SIG or RESET DOUT command The specifications of the hand output signal are as follows Output type Photo MOS output Output circuit structure User side P24G common connection P24V P24G SYSOUTCOM DOUT_20 Sink type common User side P24V common connection P24V P24G SYSOUTCOM Source type common DOUT_20 Electric rating Rated voltage 24 V DC Rated curr...

Page 33: ...C 1 5 12 ST 3 5 LR plug type for connecting the SAFE cable on the robot controller side The connectors are the I O connectors for contact inputs of the external emergency stop switch in the high order system safety door etc and for relay outputs that indicate the TSL3000E TSL3100E controller status Detail of SAFE connector on controller front panel 1 2 23 24 ...

Page 34: ...p switch Enable switch Teach pendant TP1000 External emergency stop switch Customer prepared P24G Emergency stop status output c contact redundant output P24G Teach pendant TP1000 Mode monitor Emergency stop signal monitor Safety door and enable signal monitor RST 1 RST 2 EMG IN1 EMG OUT1 EMG IN2 EMG OUT2 SAD IN1 SAD OUT1 SAD IN2 SAD OUT2 Emergency stop status output c contact redundant output SAF...

Page 35: ...witches Note on the following when choosing and locating an emergency stop switch Install an emergency stop device to the TSL3000E TSL3100E and other locations where emergency stop is required All the emergency stop devices must be placed where they can be easily accessed Choose an emergency stop device which has such a structure that when the emergency stop device works the circuit will not be au...

Page 36: ...eled by inputting reset signal from external equipment Be sure to input this signal after emergency stop processing is executed Be aware that the reset signal is accepted only while all emergency stop buttons are canceled Set the reset signal input width to 150 ms min Signal timing EMG IN EMG OUT I RST 1 RST 2 I Alarm O Cautions 1 This signal does not reset any alarm but resets restoration from em...

Page 37: ...signal is open the processing of robot emergency stop is executed Use this signal by connecting the external emergency stop switch When the emergency stop input contact is open emergency stop contact output is open between EMG COM and EMG a When emergency stop latch reset is input while emergency stop input contact is short circuited emergency stop contact output is short circuited between EMG COM...

Page 38: ...d which should be turned on and off at the same time If there is a delay in contact input operation the non conformity detection function of hardware works to retain emergency stop If error clear is not done even after emergency stop latch input confirm whether this signal has two 2 b inputs interconnected 3 Unless this signal is used short circuit SAFE 3 to SAFE 4 and SAFE 5 to SAFE 6 ...

Page 39: ...MG b EMG COM EMG a Function While the EMERGENCY stop pushbutton switch provided on the teach pendant is pressed ON or emergency stop contacts 1 and 2 input from the external equipment are ON the output terminals of this signal operate This signal can always be used regardless of the mode selected by means of the master mode switch Signal timing SVON_COM SVON_1a O Emergency stop I input EMG COM EMG...

Page 40: ... contact is open emergency stop contact output is short circuited between SAD COM and SAD a Safety door contact output is c contact Use this signal in accordance with the customer s specifications Signal timing EX_SVON I SAD IN SAD OUT I SVON 1a SVON COM O SAD COM SAD a O Cautions 1 While this signal is open the servo power cannot be turned on in any mode 2 SAD IN to SAD OUT are assumed to have tw...

Page 41: ... provided on the teach pendant is pressed ON or safety door contacts 1 and 2 input from the external equipment are ON the output terminals of this signal operate When the master mode switch is TEACH mode the enable switch on the teach pendant becomes enabled and this signal can be operated When the master mode switch is EXT mode the enable switch on the teach pendant becomes disabled Signal timing...

Page 42: ...nal can always be used regardless of the mode selected by means of the master mode switch Signal timing EXT_SVON I SVOFF I SVON_1a SVON_COM O Cautions The signal is of a non voltage contact output type The logic is a a contact output The contact capacity is 250 VAC max 6 A max 125 VDC max 6 A max It takes about two 2 seconds from the servo ON to the time when the robot is actually ready to work Th...

Page 43: ... by means of the master mode switch on the controller front panel In TEACH mode the enable switch on the teach pendant becomes enabled and enters close status by gripping the switch to neutral In EXT mode the enable switch on the teach pendant becomes disabled but the safety door switch etc is enabled The operational correspondence is shown below Teach pendant enable switch Safety door switch inpu...

Page 44: ...rvo power unit Then voltage charge is started and power is supplied to the motor by inputting the servo ON command signal 4 5 2 Stop Method The stop method varies depending on the status of the master mode switch on the control front panel In TEACH mode when any of the emergency stop switch enable switch on the teach pendant and safety input switch is open slowdown and stop are started the brake s...

Page 45: ...s close status when the enable switch on the teach pendant is set to neutral 4 6 Fabricating SAFE Signal Cable Follow the points below when fabricating the external I O signal cable a Use the connector supplied with the TSL3000E TSL3100E robot controller for the SAFE connection connector Connector name Type of connector Maker SAFE DFMC 1 5 ST 3 5 LR plug type connector PHOENIX CONTACT b Select the...

Page 46: ...ely insert the cable side connector into the controller side connector and lock them with the levers on both sides of the connector as shown in Fig 4 2 To disconnect the cable release the levers on both sides of the connector then pull out the connector in reverse order of connection At this time DO NOT pull the cable instead of the connector Otherwise an excessive force will be exerted on the cab...

Page 47: ... attached dummy connector XM3A 3721 plug type connector XM2S 3711 connector cover Some system input signals normal close contact of this dummy connector are jumpered Remove the jumpers when necessary A cable with its single side soldered to the connector TSL3000E TSL3100E INPUT cable is provided optionally Contact our after sale service agent in your territory ...

Page 48: ...AK SVOFF Stop Cycle mode Low speed command Deceleration and stop Servo off Strobe Program reset Step reset Cycle reset Output signal reset Alarm reset Start External servo ON 249 250 251 252 253 254 255 256 INCOM SYSINCOM Note To use the INPUT and OUTPUT signals supply P24V from the external equipment Unless power is input from the EXT I O connector on the front panel an error occurs in the detect...

Page 49: ...249 250 251 252 253 254 255 256 DI_ ＩＮＣＯＭ Connector EXT I O In the figure an example is shown where common signals INCOM and SYSINCOM are connected to P24G INCOM and SYSINCOM are branched INCOM SYSINCOM External power supply detection circuit SYSＩＮＣＯＭ 5 4 3 2 1 Note To use the INPUT and OUTPUT signals supply P24V from the external equipment Unless power is input from the EXT I O connector on the f...

Page 50: ...pins and 31 32 pins Common wires for DI_1 to DI_8 are INCOM and common wires for system input signal are SYSINCOM For details of the connection see the figure below i e example of circuit Function Each signal status of DI_1 DI_8 can be identified by the robot program DIN command to branch the processing of program Also it is possible to perform interruptive processing of each signal DI_1 DI_8 with...

Page 51: ...V DC 1 mA Contact impedance 100 or less Transistor specifications Withstand voltage between collector and emitter 30 V or over Current between collector and emitter 10 mA or over Circuit current Approx 7 mA Leakage current between collector and emitter 100 µA or less Signal timing When the pulse type input signals are used the pulse width should be 100 ms or over 100 ms or over DI_1 DI_8 system si...

Page 52: ...nding to each input is output to assure each signal input The relationship between input signal and output signal is stipulated by the timing chart of each signal Also each system input signal becomes enabled or disabled by means of the master mode switch equipped on the controller front panel Each signal ON mode is shown in Table 4 1 below Table 4 1 List of system input signal ON modes Master mod...

Page 53: ...y that unexpected system startup can be prevented e g attachment of a wrong operation prevention card CAUTION If the system contains more than one controller specify so that the robot can operate only when the same operation mode is selected for all the controllers In addition display the operation mode of each controller on the operation equipment ...

Page 54: ...al digital input signal which are coded 4 3 2 1 Program Number max four 4 bits DI X n 1 DI X n 1 4 External digital input signal For the program file name and register of it to the program number and assignment of bits to external digital input signals see the User Parameter Manual This signal can be used only in the EXT SIGNAL mode Signal timing DI X DI X n 1 I STROBE I ACK O RUN I With the start...

Page 55: ... to the controller input signals is necessary User parameter U07 U07 Specify signal for EXTSELECT Signal No 1 Bit length 1 4 1 4 Bits underlined Leading signal name in DIN command Bit length Signal name in DIN command signifies an input signal number assigned in a program to run the internal sequence The signal name is predetermined in the program and cannot be changed by the user For the digital ...

Page 56: ...4 0 0 1 1 PROG5 0 1 0 0 PROG6 0 1 0 1 PROG7 0 1 1 0 PROG8 0 1 1 1 PROG9 1 0 0 0 PROG10 1 0 0 1 PROG11 1 0 1 0 PROG12 1 0 1 1 PROG13 1 1 0 0 PROG14 1 1 0 1 PROG15 1 1 1 0 PROG16 1 1 1 1 When bits underlined 1 2 two 2 external digital input signals 1 and 2 are used and the number of program files selected is four 4 from PROG1 PROG4 To register the program file name to the program number register on ...

Page 57: ...nd for the underlined of PROG Example U08 EXTSELECT file AAA BBB CCC DDD Specify the above program names in advance Then specify zero 0 for both bits 1 and 2 of DIN command which are set under U07 assume that U07 1 2 and input the STROBE signal Program AAA is automatically selected now If the following steps are taken without registering the program names a Compile Error occurs After the above par...

Page 58: ...e value of each variable is also reset to zero 0 This signal can be used only in the EXT SIGNAL mode Signal timing AUTORUN O PRG_RST I ACK O Cautions 1 The PRG_RST signal should not be input together with the STROBE CYC_RST STEP_RST or DO_RST signal Because the ACK signal is used in common only the first signal which is input becomes valid and all other signals become invalid 2 This signal cannot ...

Page 59: ...of each variable used in the program remains unchanged This signal can be used only in the EXT SIGNAL mode Signal timing AUTORUN O STEP_RST I ACK O Cautions 1 The STEP_RST signal should not be input together with the STROBE PRG_RST CYC_RST or DO_RST signal Because the ACK signal is used in common only the first signal which is input becomes valid and all other signals become invalid 2 This signal ...

Page 60: ...e value of each variable used in the program remains unchanged This signal can be used only in the EXT SIGNAL mode Signal timing AUTORUN O CYC_RST I ACK O Cautions 1 The CYC_RST signal should not be input together with the STROBE PRG_RST STEP_RST or DO_RST signal Because the ACK signal is used in common only the first signal which is input becomes valid and all other signals become invalid 2 This ...

Page 61: ...ll signals of DO_1 DO_8 turn off However the system output signals are turned on This signal can be used only in the EXT SIGNAL mode Signal timing AUTORUN O STEP_RST I ACK O DO_1 DO_8 O Cautions 1 The DO_RST signal should not be input together with the STROBE PRG_RST CYC_RST or STEP_RST signal Because the ACK signal is used in common only the first signal which is input becomes valid and all other...

Page 62: ...cel an alarm from the external equipment which occurred while the TSL3000E TSL3100E robot controller was able to start This signal can be used only in the EXT SIGNAL mode Signal timing SYS_RDY O ALARM O ALM_RST O Cautions If an alarm of the emergency stop level which will not allow the processing of EX_SVON or EMG COM EMG a EMG b SAD COM SAD a or SAD b is output alarm reset by the ALM_RST signal i...

Page 63: ... be used only in the EXT SIGNAL mode Signal timing POWER ON SYS_RDY O SV_RDY O EX_SVON I SVON_1a SVON_COM O RUN I STOP I AUTORUN O Cautions After servo ON automatic operation starts with the start of the RUN signal It takes about two 2 seconds from the input of EX_SVON to the time when the robot is actually ready to work Thus it is necessary to program a delay of 2 5 seconds or over between the SV...

Page 64: ... in the EXT SIGNAL mode Signal timing POWER ON SYS_RDY O Approx 2 5 sec SV_RDY O EX_SVON I SVON_1a SVON_COM O Processing of servo OFF Servo ON Servo OFF Servo ON Cautions To prevent an internal damage after servo OFF the interval time is seven 7 seconds when the servo is turned on for the number of times that is a multiple of 3 If servo is to be turned on again for the first and second times the E...

Page 65: ...en the robot cannot be operated This signal can always be used irrespective of the master mode selected by means of the MODE switch Signal timing RUN I AUTORUN O STOP I Robot motion 1 segment 1 segment 1 segment 1 1 Duration from the start of one motion command to just before the start of next motion command is called 1 segment Cautions 1 When the RUN command is executed after cancel of STOP the p...

Page 66: ...in the TSL3000E TSL3100E robot controller after current one 1 cycle operation has been executed during automatic operation This signal can be used only in the EXT SIGNAL mode Signal timing RUN I AUTORUN O CYCLE I Robot motion 1 segment 1 segment 1 segment 1 1 cycle 2 1 Duration from the start of one motion command to just before the start of next motion command is called 1 segment 2 Duration from ...

Page 67: ... external equipment The robot operates at a low speed the low speed command is valid while this signal is open The robot operation speed in the low speed mode can be set by means of the parameter Initial set value 25 When this signal is short circuited the previously set value initial set value 100 takes effect again This signal can always be used irrespective of the master mode selected by means ...

Page 68: ...l not operate To restart the robot short circuit this signal then execute the RUN command If this signal is open the robot cannot be started This signal can always be used irrespective of the master mode selected by means of the MODE switch Signal timing RUN I AUTORUN 0 BREAK I Robot motion 1 segment 1 segment Slowdown and stop 1 during motion command 1 Duration from the start of one motion comman...

Page 69: ...river main power from the external equipment While this signal is open the servo power is turned off This signal can always be used irrespective of the master mode selected by means of the MODE switch Signal timing EX_SVON I Approx 2 5 sec SV_RDY O SVOFF I Cautions 1 While this signal is open the servo power cannot be turned on in any mode 2 Unless this signal is used short circuit the INPUT 14 si...

Page 70: ...nector on the controller side Unless the following signals are used as the external signals jumper the cables also INPUT 13 LOW_SPD INPUT 31 CYCLE Jumper of connector P24G common is assumed INPUT 12 16 14 16 32 16 17 35 13 16 31 16 CAUTION Unless the signals of SVOFF and emergency stop contact inputs 1 and 2 and safety door contact inputs 1 and 2 are closed the controller servo power cannot be tur...

Page 71: ...ignal Cable To connect the external output signal cable use the attached connector XM3A 2521 plug type connector XM2S 2511 connector cover A cable with its single side soldered to the connector TSL3000E TSL3100E OUTPUT cable is provided optionally Contact our after sale service agent in your territory ...

Page 72: ...ignal ALARM System output signal Acknowledge ﾞ Servo ready External mode ON System ready Auto mode ON Cycle end Low speed mode ON Battery alarm Alarm OUTCOM SYSOUTCOM SYSOUTCOM P24V P24V P24G P24G DO_ OUTCOM SYSOUTCOM Connector EXT I O External power supply detection circuit 5 4 3 2 1 Note To use the INPUT and OUTPUT signals supply P24V from the external equipment Unless power is input from the EX...

Page 73: ...OUTCOM SYSOUTCOM P24V P24V P24G P24G DO_ OUTCOM SYSOUTCOM Connector EXT I O External power supply detection circuit 5 4 3 2 1 Note To use the INPUT and OUTPUT signals supply P24V from the external equipment Unless power is input from the EXT I O connector on the front panel an error occurs in the detection circuit IN_P24V IN_P24G Digital output signal System output signal Acknowledge ﾞ Servo ready...

Page 74: ...22 pins Function ON OFF of signals DO_1 DO_8 and pulse output can be performed by the robot program BCDOUT command and PULOUT command Output type Photo MOS output bi direction Example of circuit Output circuit structure User side P24G common connection P24V P24G OUTCOM SYSOUTCOM DO_ Sink type common P24V P24G OUTCOM SYSOUTCOM Sink type common DO_ User side P24G common connection Electric rating Ra...

Page 75: ...utput type Photo MOS output bi direction Output circuit structure P24V P24G OUTCOM SYSOUTCOM DOUT_ User side P24G common connection Sink type common P24V P24G OUTCOM SYSOUTCOM DOUT_ Sink type common User side P24G common connection Photo MOS specification Rated voltage 24 V DC Rated current 50 mA max CAUTION If the current which exceeds the rated output current is supplied the output device may be...

Page 76: ... When one of these signals is input the ACK signal is sent back to inform that appropriate processing has finished This signal can always be used irrespective of the master mode selected by means of the MODE switch Signal timing AUTORUN O Program selection I STROBE PRG_RST etc ACK O Cautions If two 2 or more input signals shown above are input at the same time only the signal which was input first...

Page 77: ...X_SVON I SVON_1a SVON_COM O Processing of servo OFF RUN I AUTORUN O Servo ON Servo OFF Servo ON Cautions 1 Program so that the RUN signal can be turned on only after the SV_RDY signal turns on 2 To prevent an internal damage after servo OFF the interval time is seven 7 seconds when the servo is turned on for the number of times that is a multiple of 3 If servo is to be turned on again for the firs...

Page 78: ...t Output terminal ON OFF High Low Function This signal turns on when the MODE switch of the TSL3000E TSL3100E robot controller is set to EXT SIGNAL Signal timing MODE switch TEACH EXT SIGNAL EXT HOST EXTSIG O Cautions When the EXT SIGNAL mode is selected by means of the MODE switch all system input signals become operative ...

Page 79: ...h Low Function This signal turns on when the robot can start after the controller main power is turned on With this signal it is possible to confirm that the robot can be operated This signal can always be used irrespective of the master mode selected by means of the MODE switch Signal timing POWER ON SYS_RDY O EX_SVON I SVON_1a SVON_COM O Cautions ...

Page 80: ...S_RDY signal is turned on automatic operation starts with this signal output This signal remains on as long as the robot is operating in the automatic operation mode This signal turns on when the EXT SIGNAL or EXT HOST mod is selected by means of the MODE switch of the TSL3000E TSL3100E robot controller Signal timing SYS_RDY O RUN I STOP I AUTORUN O Cautions This signal will not turn on while the ...

Page 81: ...on only when the CYCLE signal is made valid in the program execution RUN mode and an automatic operation is executed This signal can always be used irrespective of the master mode selected by means of the MODE switch Signal timing AUTORUN O CYCLE I CYC_END O Cautions 1 This signal turns off when the RUN mode takes effect 2 This signal turns on also when the cycle operation has been stopped by the ...

Page 82: ... judgment Output terminal ON OFF High Low Function This signal turns on while the robot is operating in the low speed mode by the input of system input signal LOW_SPD This signal can always be used irrespective of the master mode selected by means of the MODE switch Signal timing AUTORUN O LOW_SPD I LOW_ST O Cautions ...

Page 83: ...m detects all encoders of axis 1 to axis 4 and axis 6 and battery level in the main control board X8YV This signal can always be used irrespective of the master mode selected by means of the MODE switch Signal timing Battery alarm BT_ALM O Cautions If the battery alarm has occurred replace the battery immediately by identifying a battery whose voltage has dropped according to the alarm code indica...

Page 84: ...the robot or TSL3000E TSL3100E robot controller This signal is kept ON during error detection and turns off after the error has been cleared For details on the errors see the Operator s Manual This signal can always be used irrespective of the master mode selected by means of the MODE switch Signal timing AUTORUN O ALARM O Error has been cleared SVON_1a O Servo OFF only when an error of level 8 oc...

Page 85: ...which meet the following specifications Core wires 0 18 mm2 to 0 32 mm2 twisted wires Cable outer diameter Max 13 mm INPUT 11 mm OUTPUT Shield Batch braided shield Cable length 30 m or less NEVER use cables which do not conform to the specifications Otherwise short circuit or cable melting due to overheated cable core may be caused Additionally the robot may work improperly due to noise c The INPU...

Page 86: ...insert the cable side connector into the controller side connector and tighten the lock screws on both sides of the connector with a screwdriver To disconnect the cable loosen the lock screws then pull out the connector At this time DO NOT pull the cable instead of the connector Otherwise an excessive force will be exerted on the cable resulting in damage of the cable CAUTION When attaching or det...

Page 87: ...ence POWER I SYS_RDY O SV_RDY O EX_SVON I SVOFF I SVON_1a O SVON_COM Program selection I STROBE I ACK O RUN I CYCLE I STOP I AUTORUN O CYC_END O To include a delay time of 2 5 seconds or over between the EX_SVON signal ON and the RUN signal ON set ON the RUN signal only after the SV_RDY signal is ON Approx 2 5 sec ...

Page 88: ...l input 200 msec or so Note If the SVOFF signal remains 0 the servo cannot be turned on Before the servo can be turned on the SVOFF signal must be set to 1 2 Example of restarting the stopped robot a Restart after stop to resume the operation RUN I STOP I AUTORUN O b Restart after stop to start the program from the top RUN I STOP I AUTORUN O STEP_RST I ACK O ...

Page 89: ... RST 2 SV_RDY I RUN I AUTORUN O To include a delay time of 2 5 seconds or over between the EX_SVON signal ON and the RUN signal ON set ON the RUN signal only after the SV_RDY signal is ON Include a sufficient delay time before the program select signal starts between the program select signal input and STROBE signal input 200 msec or so When emergency stop contacts 1 and 2 are valid Approx 150 mse...

Page 90: ...lose Note 2 Program selection PRG_RST STEP_RST and CYC_RST can be skipped unless necessary Note 3 Program selection PRG_RST STEP_RST and CYC_RST can be executed at any timing unless the auto operation mode is selected Note 4 To prevent an internal damage after servo OFF the interval time is seven 7 seconds when the servo is turned on for the number of times that is a multiple of 3 If servo is to b...

Page 91: ... between the EX_SVON signal ON and the RUN signal ON set ON the RUN signal only after the SV_RDY signal is ON Include a sufficient delay time before the program select signal starts between the program select signal input and STROBE signal input 200 msec or so Note 1 To continue the automatic operation program selection PRG_RST STEP_RST and CYC_RST are necessary Note 2 The servo power may not be t...

Page 92: ...the colors of operation buttons be defined as follows Operation buttons Red Emergency Yellow Trouble Green Normal Blue Required action e g reset Indication of operation buttons Start Stop Pushbutton which alternately starts and stops Button which allows operation only when held down and stops it when released It is requested that the colors of indicator lamps be defined as follows Red Emergency Ye...

Page 93: ... is also recommended in order to protect serial I O signals from an electrostatic discharge induced surge or switching surge Recommended surge protector RSP 232 9 manufactured by Okaya Electric Industries Co Ltd 1 2 3 4 5 6 7 8 9 1 2 3 4 5 6 7 8 9 FG RXD TXD DTR GND RTS CTS RXD TXD DTR GND DSR RTS CTS Dsub 9S Dsub 9S Robot controller Commercially available cross cables for DOS V personal computer ...

Page 94: ...es HOST TCPRG and COM1 are the same as in Para 4 11 For details see Para 4 11 CAUTION Be sure to turn off the main power before attaching or detaching the cables Attaching or detaching the cables with the main power turned on may cause damage on the substrate ICs CAUTION The connectors below in the TSL3000E TSL3100E robot controller have connector caps HOST TCPRG COM1 MEM OUTPUT When these connect...

Page 95: ...UAL STE 85457 Section 6 Teach Pendant Cable 6 1 External View and Functional Names of the TP1000 Display screen Emergency stop switch Servo ON pushbutton Guidance condition indicator lamp Enable switch Guidance buttons ...

Page 96: ...le used only for the TP1000 teach pendant option One side of the TP cable is secured to the teach pendant and the other side has a D sub 15 pin connector Unless the teach pendant is connected insert the attached dummy plug to connector TP on the front panel of the controller When connecting the teach pendant remove this dummy plug first The attaching and detaching procedures are the same as in Par...

Page 97: ... emergency stop and enable input from the teach pedant and P24V and P24G signals for supplying the power to the teach pendant Data transmission between the teach pendant and TSL3000E TSL3100E robot controller is performed in the current loop system These I O signals are used exclusively for the TP1000 teach pendant and cannot be used for any other equipment While the teach pendant is disconnected ...

Page 98: ...Enable switch to turn on the servo in teach mode or guide the robot in teach mode Enable switch OFF ON OFF The robot cannot be guided manually when the Enable switch is OFF Keep the Enable switch ON when guiding the robot manually To turn on the Enable switch gently hold the switch To turn off the Enable switch grip on the switch The robot stops ...

Page 99: ...n the system specifications power capacity of the customer The 5 and 4 pins 24 VDC of this connector are shared with the external power input connectors for controller INPUT and OUTPUT hand INPUT and hand OUTPUT Be sure to supply external 24 VDC to EXT I O 5 and 4 pins Turn on the power to the robot while the power to TR48DIOCN TR48DIOC module is on An error occurs depending on the power on timing...

Page 100: ... length 400 m or less in total When the external power is supplied and only the RS485 communication cable is extended Characteristic impedance 100 Others For RS 485 250 kbps data communication Recommended twisted pair cable with shield TKVVBS 0 3 sq 2 P made by Tachii Densen NEVER use a cable which does not conform to the specifications Otherwise short circuit or cable melting due to overheated ca...

Page 101: ...For the I O extension up to two 2 TR48DIOCN TR48DIOC modules can be connected Robot controller 1 2 3 FG 4 5 A 485A 1 2 3 4 5 0V 24V 24V 0V B 485B FG TR48DIOCN TR48DIOC slave station 0 EXT I O User side TR48DIOCN TR48DIOC slave station 1 External 24 V power supply A 485A 24V 0V B 485B FG 5 4 3 2 1 A B 24V 0V Fig 7 2 Connection of external I O cable when external power supply is used ...

Page 102: ... the I O function extension unit When the TSL3000E TSL3100E robot controller is assigned to the master station and the TR48DIOCN TR48DIOC module to the slave station inputs and outputs can be controlled via the RS485 serial communication In addition to the TR48DIOCN TR48DIOC module a distribution I O module designated by Toshiba Machine which can serve as the slave station can be used also Fig 7 3...

Page 103: ... 28 20 Corresponds to station 1 If you wish to use only station 0 i e one 1 TR48DIOC module for instance change the underlined bit corresponding to station 0 to 1 1 28 20 0 28 20 After saving the parameter file turn off the controller power and on again Then the above parameter becomes effective If you wish to use both stations 0 and 1 i e two 2 TR48DIOC modules specify as follows and perform the ...

Page 104: ...tion setting is already described above Specify the slave station of TR48DIOC to be used according to the station number set in USER PAR User parameter For the terminator when only one 1 TR48DIOC module is used set ON the terminator setting switch equipped on the module When two 2 TR48DIOC modules are used see Fig 7 3 for example As the TR48DIOC module on the extreme right side as viewed from the ...

Page 105: ...ernal I O cable To connect the external I O cable press a slotted head screwdriver onto the cable insertion release button of the connector as shown in Fig 7 4 to lock the cable insertion release button so that the cable can be inserted or removed After the cable is firmly pressed in raise the cable insertion release button upwards to release the lock Lightly pull the cable and make sure that the ...

Page 106: ...ing the extension I O signal cable 8 1 TR48DIOCN The TR48DIOCN output specifications are Sink type Because the input specifications use bidirectional photocouplers in the input circuit the selection of INCOM enables switching between Source type and Sink type 8 1 1 Connecting Extension Input Signal Cable The connection of the extension input signal cable uses the connector XM3A 3721 plug type and ...

Page 107: ...DI_142 DI_111 DI_143 DI_112 DI_144 DI_113 DI_145 DI_114 DI_146 DI_115 DI_147 DI_116 DI_148 DI_117 DI_149 DI_118 DI_150 DI_119 DI_151 DI_120 DI_152 DI_121 DI_153 DI_122 DI_154 DI_123 DI_155 DI_124 DI_156 DI_125 DI_157 DI_126 DI_158 DI_127 DI_159 DI_128 DI_160 User side CASE Station 0 Station 1 Note 1 The DI_101 to DI_108 DI_131 to DI_140 in the above figure are examples in the case of Source type S...

Page 108: ...ransistor User side Contact or transistor No voltage contact transistor required specifications No voltage contact specifications Transistor specifications Contact rating 24V DC 10 mA or more Collector emitter voltage 30 V or more Circuit current Approx 7 mA Collector emitter current 10 mA Minimum current 24V DC 1 mA Circuit current Approx 7 mA Connection impedance 100 or less Collector emitter le...

Page 109: ...3 DO_152 Note 1 The DO_101 to DO_120 and DO_133 to DO_152 in the above figure are all transistor output DO_101 DO_133 DO_102 DO_134 DO_103 DO_135 DO_104 DO_136 DO_105 DO_137 DO_106 DO_138 DO_107 DO_139 DO_108 DO_140 DO_109 DO_141 DO_110 DO_142 DO_111 DO_143 DO_112 DO_144 DO_113 DO_145 DO_114 DO_146 DO_115 DO_147 DO_116 DO_148 DO_117 DO_149 DO_118 DO_150 DO_119 DO_151 DO_120 DO_152 Station 0 Statio...

Page 110: ...on of INCOM enables switching between Source type and Sink type 8 2 1 Connecting the Extension Input Signal Cable The connection of the extension input signal cable uses the connector XM3A 3721 plug type and XM2S 3711 connector cover supplied with the TR48DIOC The TR48DIOC inputs DI_101 to DI_128 Station 0 and DI_133 to DI_160 Station 1 are connected to the connector INPUT on the module panel ...

Page 111: ... DI_157 DI_126 DI_158 DI_127 DI_159 DI_128 DI_160 101 133 102 134 103 135 104 136 105 137 106 138 107 139 108 140 109 141 110 142 111 143 112 144 113 145 114 146 115 147 116 148 117 149 118 150 119 151 120 152 121 153 122 154 123 155 124 156 125 157 126 158 127 159 128 160 P24V P24G P24V P24G User side CASE Station 0 Station 1 Note 1 The D_I101 to DI_108 and DI_133 to DI_140 in the above figure ar...

Page 112: ... in the above figure are all transistor output DO_101 DO_133 DO_102 DO_134 DO_103 DO_135 DO_104 DO_136 DO_105 DO_137 DO_106 DO_138 DO_107 DO_139 DO_108 DO_140 DO_109 DO_141 DO_110 DO_142 DO_111 DO_143 DO_112 DO_144 DO_113 DO_145 DO_114 DO_146 DO_115 DO_147 DO_116 DO_148 DO_117 DO_149 DO_118 DO_150 DO_119 DO_151 DO_120 DO_152 101 133 102 134 103 135 104 136 105 137 106 138 107 139 108 140 117 149 1...

Page 113: ...ors supplied with the TR48DIOCN TR48DIOC or prepare the same type of connectors for use Equivalent products by other manufacturers D sub connectors can also be used Connector name Connector model Manufacturer INPUT XM3A 3721 plug type connector XM2S 3711 connector cover OMRON OUTPUT XM3A 2521 plug type connector XM2S 2511 connector cover b Select the cables that are used based on the specification...

Page 114: ...are joined by soldering For further information about the methods of joining wires to a connector and shielding processes see Appendix 2 Fabricating Cable Using D sub Connector 8 4 Attaching and Detaching Extension I O Signal Cable For attaching and detaching the extension I O signal cable see Para 4 11 ...

Page 115: ...Connector EXT I O External power supply detection circuit 5 4 3 2 1 Note To use the TRIG signal supply P24V from the external equipment Unless power is input from the EXT I O connector on the front panel an error occurs in the detection circuit IN_P24V IN_P24G P24V P24G P24G P24V FG 9 2 10 3 11 4 12 5 13 6 14 7 15 8 CASE User side Robot controller COM COM 1 COM Sink type common TRIG DI _49 DI _50 ...

Page 116: ... the cables which meet the following specifications Core wires 0 18 mm2 to 0 32 mm2 twisted wires Cable outer diameter Max 10 mm Shield Batch braided shield Cable length 30 m or less NEVER use cables which do not conform to the specifications Otherwise a short circuit or cable melting due to overheated cable core may be caused Additionally the robot may work improperly due to noise c The TRIG conn...

Page 117: ...ler It is requested that shielded twisted pair cables be used as the conveyor synchronization signal cables and that they be connected in pairs as shown below Note that a wrong connection method degrades the noise resistance causing a robot controller malfunction See the instruction manual CONVEYOR SYNCHRONIZATION FUNCTION for further information FG CH1AH CH1AL CH1BH CH1BL CH AH CH2BH CH2AL CH2BL ...

Page 118: ...elow when fabricating the incremental encoder input signal cables a Use the connectors supplied with the robot controller Connector name Type of connector Maker CONV PCR E20FS connector PCR V20LB hood Honda Tsushin Kogyo Co Ltd b Select the cables which meet the following specifications Core wires 0 2 mm 2 to 0 52 mm 2 twisted wires Cable outer diameter Max 8 mm Shield Batch braided shield NEVER u...

Page 119: ...coder input signal cables Be sure to turn off the controller before attaching detaching the cables Push Cable connector Connector Controller connector Fig 10 3 Attaching and detaching incremental encoder input signal cable To disconnect the cable unlock and pull out the CONV connector At this time DO NOT pull the cable instead of the connector Otherwise an excessive force will be exerted on the ca...

Page 120: ...ERFACE MANUAL STE 85457 CAUTION Be sure to turn off the main power before attaching or detaching the cables Attaching or detaching the cables with the main power turned on may cause damage on the substrate ICs ...

Page 121: ...a computer and the controller are connected directly one to one The equipment to be used has an automatic recognition function which allows the use of both straight and cross cables For further information see the equipment specifications For details on the LAN communication function see the Communication Manual Communication specifications a Interface 10BASE T b Communication mode TCP c Baud rate...

Page 122: ...e MEM The TSL3000E TSL3100E has a single USB port as standard A commercially available USB memory device can be used to transfer and save various parameters and back up programs and other data For details on USB memory operation see the Operation Manual ...

Page 123: ...ension I O IN_P24G IN_P24V Robot controller User side ML 4000 CP 5PGY by Sato Parts accessory P24V P24G EXT I O External 24 V power supply 5 4 3 2 1 Fig 13 1 Connection of external power supply The compatible cable sizes for the connector are AWG24 to AWG16 Select the optimum external power supply based on the system specifications power capacity of the customer For details on attaching and detach...

Page 124: ...16 DO_101 DO_120 DO_133 DO_152 ON Short circuit OFF Open ALM_RST I Cancels an alarm which has occurred while the robot controller was able to work ON Short circuit OFF Open RUN I Starts a program currently stopped to execute an automatic operation ON Short circuit OFF Open EX_SVON I Turns on the servo power ON Short circuit OFF Open RST 1 RST 2 I Resets latch from emergency stop status ON Short ci...

Page 125: ... is selected by means of the MODE switch ON High OFF Low SYS_RDY O System ready signal ON High OFF Low AUTORUN O This signal is output while the program is executed in automatic operation ON High OFF Low CYC_END O This is the output signal for verifying that the program has stopped by the CYCLE signal input ON High OFF Low LOW_ST O This signal is output while the robot is operating at a low speed ...

Page 126: ...ENCY stop switch equipped on the teach pendant and system input signal of emergency stop c contact Non voltage contact SAD COM SAD a SAD b O Used to detect the enable switch equipped on the teaching pendant and safety door input signal of emergency stop c contact Non voltage contact I Input signal O Output signal ...

Page 127: ...tions should be fabricated as shown below 1 0 m m Note The shield wire of the cable using a D sub connector is connected to the ground of the TSL3000E TSL3100E robot controller through the housing Completely connect the shield wire to the housing using the cable clamp Also it is recommended to attach a protective cover such as thermal contraction tube to the soldered part to prevent a short circui...

Page 128: ... z INTERFACE MANUAL STE 85457 ...

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