6Safety
Safety 6-109
6.1.7 Examples of safety measures
Two emergency stop input circuits are prepared on the user wiring terminal block of the controller. Create a cir
-
cuit as shown below for safety measures
.
Fig.6-1 ： Example of safety measures
(1) Use a 2-contact type switch for all switches.
(2) Install a limit switch on the safety fence's door. With a constantly open contact (a contact), wire to the door
switch input terminal so that the switch turns ON (is conducted) when the door is closed, and turns OFF (is
opened) when the door is open.
(3) Use a manual-return type 2b-contact for the emergency stop button.
(4) Classify the faults into minor faults (faults that are easily restored and that do not have a great effect) and
major faults (faults that cause the entire system to stop immediately, and that require care in restoration),
and wire accordingly.
[Caution] The emergency stop input(terminal block) on the user wiring in the controller can be used for safety
measures as shown in
. Note that there are limits to the No. of switch contacts, capacity and
cable length, so refer to the following and install.
・ Switch contact .......................................... Prepare a 2-contact type.
・ Switch contact capacity........................ Use a contact that operates with a switch contact capacity of
approx. 1mA to 100mA/24V.
・ Cable length................................................ The length of the wire between the switch and terminal block
must be max. 15m or less.
・ Emergency stop output capacity....... Set it within 300 mA/24 VDC.
Connecting an external device outside of the above range will
cause a controller failure.
1
2
3
4
5
6
RA1
24V
RA3
S/W-EMG
RA2
RA2
RA4
RA1
1
2
3
4
5
6
RA11
24V
MC1
＋
RA21
RA41
RA11
RA21
MC2
MC2
RA11
RA31
MC2
RA21
MC1
RA1
RA3
MC1
RA2
RA31
<Customer-prepared wiring>
<Robot controller system>
To servo main circuit power
External emergency
stop input
Teaching pendant
deadman switch
Operation panel
emergency stop
Teaching pendant
emergency stop
Teaching pendant
deadman switch
Software emergency
stop
External emergency
stop output
T/B remove
switch
Door switch
input
External emergency
stop
Door switch
External emergency
stop output
Software emergency
stop
Teaching pendant
deadman switch
Door switch
input
Teaching pendant
deadman switch
T/B remove
switch
Teaching pendant
emergency stop
Operation panel
emergency stop
External emergency
stop input
[Caution] Some information has been omitted for explanation proposes, so some parts may differ.
