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6.1.3 Examples of safety measures
The controller's dedicated I/O terminal connector has a duplicate emergency stop circuit. A Safety exten-
sion unit must be connected to the robot.
Figures
Fig. 6-1
to
measures. The figures represent systems which are operating normally (i.e. Systems not in an emergency
stop state).
[Note] • In the emergency-stop related wiring by the customer, if the coil (is not the contact points) of the
relay prepared by the customer is connected to the controller, please be sure to implement the
measure against the noise by the customer in the coil section. And, please also take the lifetime of
noise suppression parts into consideration.
• Electric specification of the emergency-stop-related output terminal: 24V DC or less, related current
100mA or less.
• 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.
Examples of safety
measures
Wiring example 1
Wiring example 2
Wiring example 3
Wiring example 4
Wiring example 5
Wiring example 6
Fig. 6-6
are examples of safety measures. Refer to these figures when creating safety
Not using a machine guard and running the robot in collaborative operation mode
only
Using a safety sensor (such as an area sensor) to switch between collaborative
operation mode and high-speed operation mode
Using a machine guard and running the robot in high-speed operation mode only
Connecting an emergency stop switch of a peripheral device when using collabora-
tive operation mode
Connecting an emergency stop switch of a peripheral device to two robot control-
lers when using collaborative operation mode
Connecting a safety relay to a robot controller
Description
6 Safety
Figure
Fig. 6-1
Fig. 6-2
Fig. 6-3
Fig. 6-4
Fig. 6-5
Fig. 6-6
Safety 6-95
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