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3 Controller
(Customer)
CNUSR11
11
27
10
26
8
24
CNUSR11
4
20
3
19
1
17
CAUTION
*1)The terminal can be used only for the external emergency stop input to the robot controller.
Fig.3-6: External emergency stop connection
CAUTION
3-44 Emergency stop input and output etc.
Internal circuit structure
+24V
+3.3V
+3.3V
Control
circuit 1
Mode output
Emergency stop
output
Robot error output
+24V
+3.3V
+3.3V
Control
circuit 2
Mode output
Emergency stop
output
Robot error output
Please do not carry out an insulation pressure test. Moreover,
it becomes the cause of failure if it connects incorrectly.
Place the emergency stop switch in an easily operable position, and be sure to
wire it to the emergency stop correctly by referencing
of safety
measures". This is a necessary measure in order to ensure safe
operation so that the robot can be stopped immediately by pressing the
emergency stop switch in the event that the robot malfunctions.
(Controller side)
T/B emergency stop
+24V
+3.3V
+3.3V
+3.3V
+3.3V
+24V
+3.3V
+3.3V
+3.3V
+3.3V
(Customer)
CNUSR11
14
External emergen-
cy stop input
30
*1)
+24V
13
Door switch input
29
+24V
12
Mode selector
28
switch input
CNUSR11
7
External emergen-
cy stop input
23
*1)
+24V
6
Door switch input
22
+24V
5
Mode selector
switch input
21
Please refer to the example of safety
measures of "Specifications Manual".
Page 100, "6.1.7 Examples
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