The Motors On / Motors Off Circuit - ABB IRB 6400R Product On-Line Manual

Installation and Commissioning

3.8 The MOTORS ON / MOTORS OFF circuit

To set the robot to MOTORS ON mode, two identical chains of switches must be closed. If any
switch is open, the robot will switch to MOTORS OFF mode. As long as the two chains are not
identical, the robot will remain in MOTORS OFF mode.
Figure 37 shows an outline principal diagram of the available customer connections, AS, GS and
ES.
Operating
mode selector
Figure 37 MOTORS ON /MOTORS OFF circuit.
Product Manual IRB 6400R
LS
ES
GS
&
TPU En
AS
Manual
Auto
Solid state switches
2nd
chain
interlock
RUN
EN
Computer commands
LS = Limit switch
AS = Automatic mode safeguarded space Stop
TPU En= Enabling device, teach pendant unit
GS = General mode safeguarded space Stop
ES = Emergency Stop
Connecting Signals
Contactor
Drive
unit
M
47