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<Wiring example 2>: Connect the emergency stop switch, and door switch of peripheral equipment to the
controller.
The power supply for emergency stop input uses the power supply in the controller. Monitor the
emergency stop state by the peripheral equipment side.
<Operation of the emergency stop>
If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emer-
gency stop state.
When the controller power is OFF, the peripheral devices are in the emergency stop state.
+24V
+3.3V
+3.3V
Internal emergency stop circuit
*1) The CNUSR11 connector is a two-level terminal block, indicating that there are two circuits (channels).
Two terminals (cable insertion holes) need to be used for one circuit.
*2) The T/B emergency stop button connected with the controller.
Fig.6-2: Example of safety measures (wiring example 2)
T/B emergency stop button
*2
Internal power supply 24V
+3.3V
+3.3V
+3.3V
+3.3V
*1
CNUSR11
+24V
14/7
30/23
Safety fence
+24V
13/6
Door switch input
29/22
+24V
12/5
28/21
10/3
26/19
11/4
27/20
8/1
24/17
Emergency stop switch
(2-contact type)
door
Mode selector
switch input
Emergency stop output
Mode output
Error output
6 Safety
Peripheral
equippment
Circuit
Monitor
Monitor
Safety 6-101
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