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6 Safety
6.1.7 Examples of safety measures
Two emergency-stop input circuits are prepared on the user wiring terminal block of the controller.
The safety measure examples are shown in
measures. In addition, the figure shows the normal state which is not in the 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.
<Wiring example 1>: Connect the emergency stop switch of peripheral equipment to the controller.
The power supply for emergency 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 emer-
gency stop state.
+24V
+3.3V
+3.3V
Internal emergency stop circuit
*1) The CNUSR11 connector is a two-level terminal block, indicating that there are two circuits (channels).
Two terminals (cable insertion holes) need to be used for one circuit.
*2) The T/B emergency stop button connected with the controller.
Fig.6-1: Example of safety measures (wiring example 1)
6-100 Safety
Fig. 6-1
T/B emergency stop button
*2
Internal power supply 24V
+3.3V
+3.3V
+3.3V
+3.3V
to
Fig.
6-4. Create a circuit as shown below for safety
*1
CNUSR11
+24V
14/7
30/23
Safety fence
+24V
13/6
Door switch input
29/22
+24V
12/5
28/21
10/3
26/19
11/4
27/20
8/1
24/17
Emergency stop switch
(2-contact type)
door
Mode selector
switch input
Emergency stop output
Mode output
Error output
Peripheral
equippment
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