6Safety
Safety 6-95
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 （
Case
１ ）
1A/1B
2A/2B
3A/3B
4A/4B
5A/5B
6A/6B
8A/8B
9A/9B
1A/1B
2A/2B
3A/3B
4A/4B
10A/10B
11A/11B
5A/5B
6A/6B
EMGIN1/2
EMGIN1/2
EMGOUT1/2
EMGOUT1/2
Additional axis
contactor
control
output
Robot controller
Short
Door switch input
System emergency
stop output
Error output
Mode output
Connect the emergency stop output (or emergency
stop button) of contact of peripheral equipment to
the robot emergency stop.
If the emergency stop is inputted from the periphery,
the robot will also be in the emergency stop state.
Peripheral equipment
Example of customer wiring (case 1)
Time chart
System emergency
stop output
Robot servo
EMG
OFF
ON
}
}
RA
RA
RA
RA
RA
RA
OP emergency
stop button
TB emergency
stop button
External emergency
stop input
Short
Short
→Include S/W emergency stop
Enebling device input
Internal emergency stop circuit
Internal emergency
stop circuit
<Case 1> ： Input the emergency stop of peripheral equipment into the robot.
Emergency stop input
I/O
Connection
External emergency stop
input
I
○
Door switch input
I
Enable input
I
Error output
O
Additional axes
contactor control output
O
Mode output
O
External relay wiring
[Caution] Since we have omitted the information in part because of explanation, there is the section
different from the product.
