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6Safety
<Wiring example 3>: Connect the emergency stop switch, door switch, and enabling device of peripheral equipment to the con -
troller. The power supply for emergency stop input uses the power supply of peripheral equipment. Monitor
the emergency stop state by the peripheral equipment side.
<Operation of the emergency stop>
OP Emergency
OP非常停止
stop button
ボタン
TB Emergency
stop button
TB非常停止
ボタン
Internal emergency stop
内部非常停止回路
circuit
Refer to Standard specification manual for the enabling device.
Safety
If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency
stop state. And, if the emergency stop switch of OP or T/B is pushed in the state of the power of con -
troller OFF, peripheral equipment state can be the emergency stop also.
Power supply in the
robot controller 24V
内部電源 24V
RA
RA
RA
Safety relay
安全リレー
CNUSR11/CNUSR12
1
Not connected
未接続
2
3
4
5
6
7
Door switch input
ﾄﾞｱｽｲｯﾁ入力
8
9
10
Enabling
ｲﾈｰﾌﾞﾘﾝｸﾞ
device
ﾃﾞﾊﾞｲｽ
13
Emergency stop output
非常停止出力
14
11
}
Mode output
モード出力
12
CNUSR2
16/17
}
Error output
エラー出力
41/42
Emergency stop switch
非常停止スイッチ
(2- contact type)
（2接点タイプ）
Safety
安全柵のドア
fence door
Peripheral
周辺装置
equipment
Power sup -
周辺装置側
ply 24V
電源24V
周
Circuit
辺
装
置
側
内
部
回
路
Monitor
監視
Monitor
監視
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