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<Wiring example 4>: Connecting an emergency stop switch of a peripheral device when using collaborative operation
mode
The power supply for emergency stop input uses the power supply in the controller. Monitor the emergency
stop state by the peripheral equipment side.
<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.
When the controller power is OFF, the peripheral devices are in the emergency stop state.
+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.6-4: Example of safety measures (wiring example 4)
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
6 Safety
Circuit
Monitor
COM+
*3
Safety 6-99
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