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[Note] If a stop signal or servo OFF signal is input simultaneously with a door switch open/emergency stop input,
the error, H056n "Servo sys. error (A/D)" may occur.
When a door switch open/emergency stop is input, the robot turns off the servo after it stops. It is
unnecessary to input a stop signal or servo OFF signal. To input a stop signal or servo OFF signal with a
door switch open/emergency stop input, wait for 100ms or more after a door switch open/emergency stop
input.
2.3.3 Connecting the external emergency stop and mode selector switch
The following shows how to connect the external emergency stop.
For external emergency stop, connect to the connector of the controller (see
The input terminals for the external emergency stop, door switch, and mode selector switch are arranged as
shown in
Fig.
2-7. Customers should be sure to prepare the external emergency stop, door switch, and mode
selector switch, etc. and use the robot while these are connected. Connection procedures are shown below.
In addition, refer to
Page 16, "2.3.4 Examples of safety measures"
connection and cautions.
[Caution] The emergency stop circuit is duplicated inside the controller. The emergency stop switch uses a
double contact-type switch, so please be sure to fix both of the contacts to the connector pins as
shown below in order to ensure the wiring is duplicated. An error will continue to occur in the event that
only one of the pins is connected.
1) Please prepare the emergency stop switch, door switch, and mode selector switch.
2) Connect the contacts of each switch to the contacts as shown below:
a) External emergency switch
CNUSR11 connector "between 7 and 23" and "between 14 and 30".
b) Door switch
CNUSR11 connector "between 6 and 22" and "between 13 and 29".
c) Mode selector switch
CNUSR11 connector "between 5 and 21" and "between 12 and 28".
[Caution] Be sure to use a shield cable for the emergency stop wiring cable. And when operating in an
environment that is easily affected by noise, be sure to install the ferrite core (recommended model
name: E04SR301334, manufacturer: Seiwa Electric Mfg. Co., Ltd.). Be sure to place the ferrite core in
300mm or less from the connecting terminal section.
CAUTION
CAUTION
CAUTION
Make sure there are no mistakes in the wiring. Connecting differently to the way
specified in the manual can result in failures, such as the emergency stop not being
released. In order to prevent from occurring, please be sure to check that all functions
(such as the teaching box emergency stop, customer emergency stop, and door switch)
are working properly after the wiring setup is completed.
You should always connect doubly connection of the emergency stop, the door switch,
and the mode selector switch. In connection of only one side, if the relay of customer
use should break down, it may not function correctly.
The robot output contacts (error output, emergency stop output, mode output) are
redundant (wired in series). As with emergency stop switches and door switches,
ensure that devices connected to these contacts support redundancy.
When using several emergency stop switches, perform wiring carefully to make sure
that each emergency stop switch functions independently. Check and make sure that
the emergency stop does not function under an AND condition (when multiple
emergency stop switches are ON at the same time).
2Unpacking to installation
Fig.
2-6).
for the information on the emergency stop
Installation and connectionInstallation 2-10
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