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1. SAFETY I/O interface over view
c
CAUTION
External emergency stop and the RPB emergency stop button are disabled
when pins 11 and 12 on the SAFETY connector are directly shorted to each
other. Make connections to ensure the system including the robot controller
will always operate safely.
■ Connection when using the RPB-E (provided with an enable switch) with an external
emergency stop circuit (PNP specifications)
Chapter
6
6-8
RPB connector
24V
GND
Motor power
relay coil
GND
Motor power
supply circuit
Emergency stop
switch
13
14
15
16
17
18
19
20
SAFETY
connector
1 3
E-STOPIN1
1 4
E-STOPIN2
1 5
E-STOPIN3
1 6
E-STOPIN4
1 7
LCKIN1
1 8
LCKIN2
1 9
LCKIN3
2 0
LCKIN4
11
E-STOP24V
1 2
E-STOPRDY
3
SERVICE
1
DICOM
1 0
GND
External emergency stop circuit
AC 200V
Enable
switch
RPB-E
Service key
switch
Emergency stop
switch
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