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2.3.4 Examples of safety measures
Two emergency-stop input circuits are prepared on the user wiring terminal block of the controller. A Safety
extension unit must be connected to the robot.
This section provides examples of safety measures. Refer to these figures when creating safety measures. The
figures represent systems which are operating normally (i.e., systems not in an 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 sup -
pression 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 con -
nect 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.
Examples of safety
measures
Wiring example 1
Wiring example 2
Wiring example 3
Wiring example 4
Wiring example 5
Wiring example 6
Not using a machine guard and running the robot in collaborative operation mode only
Using a safety sensor (such as an area sensor) to switch between collaborative
operation mode and high-speed operation mode
Using a machine guard and running the robot in high-speed operation mode only
Connecting an emergency stop switch of a peripheral device when using collaborative
operation mode
Connecting an emergency stop switch of a peripheral device to two robot controllers
when using collaborative operation mode
Connecting a safety relay to a robot controller
Description
Installation and connectionInstallation 2-16
2Unpacking to installation
Figure
Fig. 2-10
Fig. 2-11
Fig. 2-12
Fig. 2-13
Fig. 2-14
Fig. 2-15
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