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6 Safety
6.1.2 External input/output signals that can be used for safety protection measures
Table 6-3: External input/output signals that can be used for safety protection measures
Signal
External emer-
gency stop
Note1)
Door switch
Note1)
input
Stop
Servo OFF
Automatic
operation
enable
Emergency
stop output
In servo ON
Waiting
In alarm
Note1) The external emergency stop input, door switch input, and mode selector switch input are provided with the
redundancy of normally closed contacts for safety. Thus, if the emergency stop input circuit is opened
when the robot is started up, the robot will not operate. Refer to
sures"for details.
And, refer to
tings"for the function of the door switch input and the mode selector switch input.
6.1.3 Precautions for using robot
The safety measures for using the robot are specified in the "Labor Safety and Sanitation Rules". An outline
of the rules is given below.
(1) Robot installation
• Secure sufficient work space required to safely perform work such as teaching and maintenance related to
the robot.
• Install the controller outside the robot's motion space. (If a safety fence is provided, install outside the
fence.)
• Install the controller where the entire robot operation can be viewed.
• Install display lamps, etc., to indicate the robot's operation state.
• Securely fix the robot arm onto the fixing table with the designated bolts.
(2) Prevention of contact with operator
• Install a safety fence or enclosure so that the operator cannot easily enter the robot's motion space.
• Install an interlock function that will stop the robot if the safety fence or enclosure door is opened.
(3) Work procedures
• Create and observe work procedures for the robot teaching, operation, inspection and emergencies.
• Create hand signals to be followed when several operators are working together.
• Create displays such as "Teaching in Progress" and "Inspection in Progress" to be put up when an opera-
tor is in the robot's motion space so that other operators will not operate the operation panel (controller,
control panel).
6-98 Safety
Connection
Parameter
point
Connector
-
CNUSR11
-
Parallel I/O unit
STOP,
or interface
STOP2
SRVOFF
AUTOENA
Connector
-
CNUSR11
Parallel I/O unit
SRVON
or interface
STOP,
STOP2
Connector
ERRRESET Outputs when an alarm occurs in the
CNUSR11
Page 48, "(1) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Set-
Functions
This servo power is shut off, and the
robot stops immediately.
The program execution is stopped, and
the robot stops. The servo power is not
shut off.
The servo power can be shut off.
Disables automatic operation when
inactive.
Outputs the input signal of external
emergency stop or emergency stop
switch of T/B turned on.
The servo power ON/OFF state is out-
put.
Outputs that the robot is temporarily
stopped.
robot.
Usage method
Externally installed emergency stop
switch.
Stopping at high-level error occurrence.
The door switch of the safe protection
fence.
The robot is stopped when a peripheral
device fault occurs. The servo power is
not shut off.
The robot is stopped when a peripheral
device fault occurs. The servo power is
also shut off.
Door switch on safety protection fence.
Display and warn the pilot lamp, the
input signal of external emergency stop
or the emergency stop switch of T/B
turned on.
The servo power ON/OFF state is
shown and alerted with the display
lamps.
The temporary stop state is shown and
alerted with the display lamps.
The alarm state is shown and alerted
with the display lamps.
Page 100, "6.1.7 Examples of safety mea-
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