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3 Controller
3.6.2 Special stop input (SKIP)
The SKIP is the input signal to stop the robot. Please connect the pin 4, 13 of the CNUSR12 connector
shown in
Fig.
3-8.
Table 3-4: Special stop input electric specification
Item
Type
No. of input point
Insulation method
Rated input voltage
Rated input current
Working voltage range
ON voltage/ON current
OFF voltage/OFF current
Input resistance
Response
OFF→ON
time
ON→OFF
Common method
External wire connection
method
* Refer to
Page 45 "Fig. 3-7: Wiring method to the user
wiring connector"
connector.
Note) In the customer's system, do not ground the + side of 24V power supply prepared by customer for
connect to the controller. (related with emergency stop and parallel input/output) If it connects with
the controller under the condition that the + side is grounded, it will lead to failure of controller.
Fig.3-8: Connection of the special-stop-input
3-46 Emergency stop input and output etc.
Specifications
DC input
1
Photo-coupler insulation
DC24V
Approx. 11mA
DC 21.6 to 26.4V (Ripple rate within 5%)
DC 8V or more / 2mA or more
DC 4V or less / 1mA or less
Approx. 2.2kΩ
1ms or less
1ms or less
1 point per common
Connector
for more details about how to wire a
Internal circuit
4
1A
＋２４V(COM)
330
13
1B
Input
入力
2.2k
CNUSR12 connector
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