Connection Of Safety Chains - ABB IRB 6400R Product On-Line Manual

Connecting Signals

3.9 Connection of safety chains

*
24 V
24 V
X3:12
X4:12
X3:10
8
11
9
External contactors
0 V
24 V
0 V
X4:10
8
11
9
*
X3:7
X4:7
0 V
*)
Supply from internal 24V (X3/X4:12) and 0 V (X3/
X4:7) is displayed.
When external supply of GS and AS, X3/X4:10,11 is
connected to 24 V and X3/X4:8,9 is connected to
external 0 V
X1-X4 connection tables, see section 3.10.
Figure 38 Diagram showing the two-channel safety chain.
48
Ext LIM1
X1:4 3
see 3.9.1
ES1
Opto
+
GS1
isol.
-
TPU En1
+
Opto
AS1
isol.
-
Auto1
X2:5 6 CONT1
6
X1:5 CONT2
Ext LIM2
X2:4 3
see 3.9.1
ES2
+
GS2
Opto
isol.
-
TPU En2
+
Opto
AS2
isol.
-
Auto2
Installation and Commissioning
&
EN
RUN
Man1
&
Limit switch: load
Man2
External contactors: load
GS/AS load at 24V
GS/AS closed "1"
GS/AS open "0"
External supply of GS/AS
Max. potential relative to
the cabinet earthing and
other group of signals
Signal class
K1
Inter-
locking
K2
Technical data per chain
max. V drop
max. V drop
max. +35VDC
min. -35VDC
control signals
Product Manual IRB 6400R
K1
0 V
K2
24V
Drive unit
M
300 mA
1 V
10 mA
4 V
25 mA
> 18 V
< 5 V
300 V