User`s manual

3
I/O signal functions
3-10
3.3.2 I/Oinputs
This section explains the I/O input signals in detail.
Connect the I/O input signals as shown in the figure below.
I/O input signal connection
4.7kΩ
TS-SD
+COM
Input
24V
±10%
-COM
Ground
FG
23309-M4-00
Type
DC input (plus common type)
Photo-coupler isolation format
Load DC24V±10% 4.7mA
ORG
■
This input executes a return-to-origin operation. This establishes the robot coordinates.
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WARNING
BEFORE STARTING THE RETURN-TO-ORIGIN OPERATION, MAKE SURE THAT THE ROBOT OPERATION BY THE PULSE TRAIN
COMMAND INPUT FROM THE HOST UNIT IS NOT RUNNING. IF THE RETURN-TO-ORIGIN OPERATION IS STARTED WHILE
THE ROBOT IS MOVING BY THE PULSE TRAIN COMMAND INPUT, THE RETURN-TO-ORIGIN OPERATION MAY NOT BE
COMPLETED CORRECTLY.
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CAUTION
 
is not completed correctly. This signal must be kept turned ON until the return-to-origin is completed
successfully. To verify whether or not the return-to-origin has been completed successfully, check the return-
to-origin end status output (ORG-S).
  
Manager, the return-to-origin operation does not start. Additionally, the JOG operation or inching operation
cannot be started from the TS-Manager while this signal is ON.
 
the robot. If this function is not used, an external sensor must be installed or other similar measures must be
taken so that the host unit monitors the robot position.
RESET
■
If an alarm resulting from the internal cause occurs, remove the cause of the alarm and turn ON this signal to reset the
alarm. As the alarm is reset, the alarm output (/ALM) becomes ON.
Note that there are some alarms that cannot be reset.
If an alarm resulting from the external cause occurs, removing the cause of the alarm will turn ON the alarm output (/
ALM). In this case, it is not necessary to turn ON the RESET signal.
SERVO
■
A servo ON status is established while this signal is ON.
TheservoONstatusaffectstheservostatusoutput(SRV-S).
* A servo ON is not possible while an alarm is active.
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CAUTION
A "servo OFF" should be performed only when operation is stopped. Do not use "servo OFF" to perform
emergency stops.