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1.3
CAUTION
• Construct an external emergency stop circuit so that the emergency stop function of the overall system
including the controller operates securely.
• "E-STOPRDY*" needs a relay or photocoupler drive current of 45 mA or more.
1.3.1
5
EXTERNAL
SAFETY
E-STOP
CONTROLLER
T2
IN0
T3
IN1
DOOR
IN2
IN3
AUTO MODE
SWITCH
IN12
IN13
External power
+24V
V
G
Operation description
■
• This example does not use the internal power for the emergency stop. Use the external power and do not connect
"E-STOP*+" and "E-STOP*-".
• The safety controller monitors the emergency stop and enable switch status of two systems. If any contact is open, the
main power is shut down by the external contactor to put the robot in the emergency stop status.
• The safety controller operates the external main power according to the safety protection door open/close status, AUTO
mode switch, and MP RDY* signal status of two systems. Additionally, the safety controller judges "E-STOP RDY*" and
"AUTO*+" and outputs this judgment signal to the controller.
• To restart the external main power of the controller, it is necessary to input RESET to the safety controller.
• When the programming box and SAFETY connector are removed, the controller enters the emergency stop status.
• The following PB connector pins of the PB terminator supplied with the controller are short-circuited and the automatic
operation is ready to start.
* For details about the CE specifications, refer to the "Safety standards application guide".
5-2
Connection example combining the programming box with
external emergency stop circuit
Connection example of controller with CE specifications and PBEX
ACIN
L
L
N
N
100mA*2
T0
Internal power
IN10
O0
+24V
O1
A1
E-STOP1+
B1
E-STOP2+
A2
E-STOP11
T2
A3
E-STOP12
IN4
B2
E-STOP21
T3
B3
E-STOP22
IN5
A4
E-STOP RDY1
O2
E-STOP COM1
A5
B4
E-STOP RDY2
O3
B5
E-STOP COM2
A6
E-STOP1-
B6
E-STOP2-
Internal power GND
A7
ENABLE1+
A8
ENABLE1-
IN6
B7
ENABLE2+
B8
ENABLE2-
IN7
A9
AUTO1+
O4
AUTO COM1
A10
B9
AUTO2+
O5
B10
AUTO COM2
A11
A12
IN8
MP RDY2+
B11
MP RDY2-
B12
IN9
SAFETY
PB connector
13 pin - 14 pin
15 pin - 16 pin
17 pin - 18 pin
19 pin - 20 pin
21 pin - 22 pin
To main
Controller
power circuit
CE specifications
Main power on/off control
Emergency stop
status detection
Manual lock switch
status detection
AUTO mode
change detection
Internal power GND
Motor power ready output
PBEX
Emergency
stop
Manual lock
PB
13
E-STOP11
13
14
E-STOP12
14
15
E-STOP21
15
E-STOP22
16
16
17
ENABLE11
17
18
ENABLE12
18
19
ENABLE21
19
20
ENABLE22
20
21
21
22
22
23
23
Enable
OFF
ON
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Troubleshooting
