Further Details About The Stop Circuit Signals - Comau Robotics C5G Instruction Handbook Manual

Safety circuits: minimum requirements for integration

6.6.2 Further details about the stop circuit signals

Signal Pin on X30
Input
4, 6
E-Stop
5, 7
Line
Input
18, 20
Auto-Stop
19, 21
Line
*¹ For safety reasons, in Programming mode only category 0 stops are enabled (in compliance with EN
60204-1).
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The input/output signals for the stop circuits are available on the X30/CIP connector
located by the Control Unit base.
Tab. 6.3 - X30/CIP connector: safety signal definition
Status: it is always enabled and triggers the stopping mode (norm
EN60204-1) depending on the selected operating mode:
• category 1 in automatic mode
• category 0 in programming mode *¹
Signal: input used for the emergency stop function; connect a pair
of not-energized contacts of a safety device coming from the line.
C5G
+24V Int
External
E-Stop
Electric features:
– self-restoring fuse 1 A
– current on the contacts between 20 and 50 mA per each input
– voltage 24 Vdc
Status: it is enabled in automatic operating mode only and triggers
a stop according to category 1 (norm EN60204-1). By selecting the
Programming mode, the C5G will be controlled by the Enabling
Device (on Teach Pendant) and the Auto-Stop input will be
disabled.
Signal: input used for the safety stop function; connect a pair of
not-energized contacts of a safety device coming from the line.
C5G
+24V Int
Auto-Stop
(Fence)
Electric features:
– self-restoring fuse 1 A
– current on the contacts between 20 and 50 mA per each input
– voltage 24 Vdc
Definition and purpose
X30
X30
Diagnosis
$SDI[41]
Channel 1
$SDI[42]
Channel 2
$SDI[47]
Channel 1
$SDI[48]
Channel 2
HS-RC-C5E-TIN_05.fm
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