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6 Safety
(1) External emergency stop connection [supplementary explanation]
(1) Use a 2-contact type switch for all switches.
(2) Install a limit switch on the safety fence's door. With a constantly open contact (normal open), wire to
the door switch input terminal so that the switch turns ON (is conducted) when the door is closed, and
turns OFF (is opened) when the door is open.
(3) Use a manual-return type of normal close which have two lines for the emergency stop button.
(4) Classify the faults into minor faults (faults that are easily restored and that do not have a great effect)
and major faults (faults that cause the entire system to stop immediately, and that require care in resto-
ration), and wire accordingly.
[Caution] The emergency stop input (terminal block) on the user wiring in the controller can be used for
safety measures as shown in figure above. Note that there are limits to the No. of switch contacts,
capacity and cable length, so refer to the following and install.
• Switch contact .... ............. Prepare a 2-contact type.
• Switch contact capacity .... Related current of 24 VDC or higher for a no-voltage contact.
• Cable length ....... ............. The length of the wire between the switch and terminal block must
Electric specification of the emergency stop related output circuit is 100mA/24V or less. Don't con-
nect the equipment except for this range.
CAUTION
CAUTION
*1) The minimum load electric current of the switch is more than 5mA/24V.
6-104 Safety
be max. 15m or less. Please use the shield line, in case of the
cable may receive the noise etc. by other equipment, such as
servo amplifier. And, if it is necessary, please fix a ferrite core (rec-
ommended model name: E04SR301334, manufacturer: Seiwa
Electric Mfg. Co., Ltd.) to the shielded cable.
The size of the wire that fits to use is shown below.
CNUSR11 connector: AWG24 to 16 (0.2 to 1.25mm
Be sure to perform wiring correctly. If there are mistakes in the wiring, the robot
may not stop when the emergency stop button is pressed and there will be a risk
of damage or personal injury occurring.
After wiring, be sure to press each of the installed emergency stop switches and
check whether the emergency stop circuit works properly.
Be sure to duplicate connection of the emergency stop, door switch and mode
selector switch. If not duplicated, these functions may fail due to a broken relay
used by customer, etc.
*1)
*1)
2
)
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