6-98
Safety
6Safety
Fig.6-4 : Example of safety measures (
Case
4 )
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
}
FUSE
Error output
EMG
servo on operation
Robot servo
Peripheral equipment
monitor status
ON
ON
ON
ON
Robot err
Robot err
Close
Close
Err=Open
RA
RA
RA
RA
RA
RA
Robot controller #1
OP emergency
stop button
TB emergency
stop button
Open
Open
system emergency
stop output
Constitute by customer
Peripheral equipment
With the
compulsive guide
Monitor
Internal emergency
stop circuit
Door switch input
Short
Error output
Mode output
Short
Enebling device
input
Additional axis
contactor
control
output
Internal emergency stop circuit
Example of customer wiring (case 4)
System emergency
stop output
Time chart
<Case 4 > : Use of the error output
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.