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2Unpacking to installation
(1) External emergency stop connection [supplementary explanation]
(1) Use a 2-contact type switch for all switches.
(2) Install a limit switch on the doors of the machine guards. Wire the switch to the Door switch input terminal so
that the NO contact turns on (continuity state) when the door is closed and the NO contact turns off (non-
continuity state) when the door is opened.
(3) Use an IEC 60204-1 compliant emergency stop switch, which has two NC contacts for redundancy and a
mechanical latching function.
(4) Classify the faults into minor faults (faults that are easily restored and that do not have a great effect) and
major faults (faults that cause the entire system to stop immediately, and that require care in restoration),
and wire accordingly.
[Caution] The external emergency-stop switch pins of the user-wired CNUSR11 connector can be used for safety
measures.
Please be aware that there are restrictions on the number of switch contacts, cable rating, and cable
length.
・ Switch contact.......Prepare a 2-contact type.
・ Switch contact capacityRelated current of 24 VDC or higher for a no-voltage contact.
・ Cable length ............The length of the wire between the switch and terminal block must be max. 15m
Electric specification of the emergency stop related output circuit is 100mA/24V or less. Don't connect
the equipment except for this range.
CAUTION
CAUTION
*1) The minimum load electric current of the switch is more than 5mA/24V.
2-23 Installation and connectionInstallation
or less. Please use the shield line, in case of the cable may receive the
noise etc. by other equipment, such as servo amplifier. And, if it is
necessary, please fix a ferrite core (recommended model name:
E04SR301334, manufacturer: Seiwa Electric Mfg. Co., Ltd.) to the
shielded cable.
The size of the wire that fits to use is shown below.
CNUSR11 connector: AWG24 to 16 (0.2 to 1.25mm
Be sure to perform wiring correctly. If there are mistakes in the wiring, the robot may
not stop when the emergency stop button is pressed and there will be a risk of damage
or personal injury occurring.
After wiring, be sure to press each of the installed emergency stop switches and check
whether the emergency stop circuit works properly.
Be sure to duplicate connection of the emergency stop, door switch and mode selector
switch. If not duplicated, these functions may fail due to a broken relay used by
customer, etc.
*1)
*1)
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