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Toshiba TCR Series User Manual
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INTERFACE MANUAL
*
Emergency stop signal line
The connection diagram of the emer
gency stop switch is shown below.
EMS1A
EMS1B
EMS1B
EMS1C
EMS2A
EMS2B
EMS2B
EMS2C
P5V
P5G
P24G
P5G
P5V
P5G
P24G
P5G
TS
2000/TS
2100
Use
r side
TP unit
External
input
signals
Control
panel unit
T
o proces
s
ing of
emergency stop
P5V
P5V
Em
ergency stop
con
tact
1
Em
ergency
stop
con
tact
2
P24V
P24V
STE 71367
– 60 –
59
61
Table of Contents
Default Chapter
7
Table of Contents
7
1 Type of External Cable
10
Layout and Name of Connectors
10
TS2000/TS2100 Power Cable "ACIN CN1
12
Robot Control Cables
12
TS2000/TS2100 Motor Drive Cable "MOTOR CN2
12
TS2000/TS2100 Encoder Cable "CN3
12
TS2000/TS2100 Encoder Cable "CN11" (Option)
12
Robot Control Signal Cable "CN4
13
Robot Control Signal Cable "BRAKE
13
Digital Output Power Select Cable "TB2" (with Jumper)
13
External I/O Signal Cables
13
External Input Signal Cable "CN5
13
External Output Signal Cable "CN6
14
External I/O Signal Cable "CN12
14
Serial I/O Signal Cable
15
Serial I/O Signal "COM1
15
Serial I/O Signal "HOST
15
Tcprgos "Tcprg
15
Serial I/O Signal "POD
16
Teach Pendant Cable "TP
16
Remote I/O Cable "EXT-I/O
16
2 Connecting Power Cable
17
3 Connecting Robot Control Cable
18
Connecting Motor Drive Cable
18
Connecting Encoder Cable
20
Connecting Encoder Cable (Option)
21
Connecting Robot Control Signal Cable
22
4 Connecting External I/O Signal Cable
26
Connecting External Input Signal Cable
26
Connecting External Output Signal Cable
29
Connecting External I/O Signal Cable
32
Digital Input Signal
36
System Input Signal
39
Jumper of Safety Measure Signal
61
Digital Output Signal
62
System Output Signal
65
Fabricating External I/O Signal Cable
81
Attaching and Detaching External I/O Signal Cable
82
Example of Controller Operation, Using External Signals
83
5 Connecting Serial Signal Cable
87
Connecting Serial I/O Signal Cables COM1, HOST, TCPRG, POD and COM2 (Option)
87
Attaching and Detaching Serial I/O Signal Cables COM1, HOST, TCPRG, POD and COM2 (Option)
88
6 Connecting TP (Teach Pendant) Cable
89
7 Connecting EXT-I/O Cable
91
EXT-I/O Communication
94
Attaching and Detaching EXT-I/O Cable
97
8 Connecting Extension I/O Signal Cable (Option)
98
Tr48Diocn
98
Connecting Extension Input Signal Cable
98
Connecting Extension Output Signal Cable
101
Tr48Dioc
102
Connecting Extension Input Signal Cable
102
Connecting Extension Output Signal Cable
104
Fabricating Extension I/O Signal Cable
105
Attaching and Detaching Extension I/O Signal Cable
105
9 Connecting High-Speed Input Signal Cable (Option)
106
Fabricating High-Speed Input Signal Cable
107
Attaching and Detaching High-Speed Input Signal Cable
107
11 Connecting Digital Output Power Select Cable
109
12 Appendixes
110
System Signal Table
110
Fabricating Cable Using D-SUB Connector
113
Fabricating Cable Using Half-Pitch Connector
114
4
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Toshiba TCR Series Specifications
General
Brand
Toshiba
Model
TCR Series
Category
Controller
Language
English
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