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6 Safety
<Wiring example 1>: Not using a machine guard and running the robot in collaborative operation mode only
Connect the emergency stop switch of peripheral equipment to the controller. The power supply for emer-
gency stop input uses the power supply in the controller.
<Operation of the emergency stop>
If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency stop
state.
<Operation of Safety input 1>
Opening the terminals will keep the robot in collaborative operation mode.
+24V
+3.3V
+3.3V
Internal emergency stop circuit
*1) The CNUSR11 port and SDI1 port both have two rows of terminals, indicating that there are two channels. Both channels must be
connected.
*2) This is the emergency stop switch of the teaching pendant that is connected to the robot controller.
*3) If a Safety extension unit is not connected to the robot controller, the error H2260 "Safety function execution disabled (No extended
safety unit)" will occur.
*4) For examples of safety input 1 connections, refer to the section "Connecting the safety extension unit to the controller" in the sep-
arate manual "Instruction Manual: Controller Setup and Maintenance".
Fig.6-1: Example of safety measures (wiring example 1)
6-96 Safety
T/B emergency stop switch
*2
Internal power supply 24V
+3.3V
+3.3V
+3.3V
+3.3V
*1
CNUSR11
+24V
14/7
30/23
+24V
13/6
29/22
+24V
12/5
28/21
10/3
26/19
11/4
27/20
8/1
24/17
RIO
Emergency stop switch
(2-contact type)
Peripheral
equippment
Door switch
input
Mode selector
switch input
Emergency stop
output
*4
Safety input 1
(SDI1)
A1 B1
Mode output
*1
A2 B2
Error output
Safety
extension
unit
RIO1
COM+
*3
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