External Safety Relay - ABB IRB 6400R Product On-Line Manual

Connecting Signals

3.11 External safety relay

The Motor On/Off mode in the controller can operate with external equipment if external
relays are used. Two examples are shown below.
K2
K1
Robot 1
External
supply
External
supply
Cell ES
Figure 43 Diagram for using external safety relays.
54
Panel unit
Ext MON 2
Ext MON 1
AS GS
ES out
Safety gate
Installation and Commissioning
Relays with positive action
X2:6
CONT2
X2:5
24 V
X4:2
X4:1
X3:2
X3:1
X1:5
0 V
X1:6
CONT1
Robot 2
AS GS
ES out
0 V
24 V
(only one channel displayed)
Safety relay
To other
equipment
Product Manual IRB 6400R