Toshiba TS3000 Series Instruction Manual page 59

Designation
Input terminal
Signal
Function
Signal timing
ENA*B ~ ENA*C (Safe input contacts 1 & 2)
Between EMS-3 and EMS-4 (Safe input contact 2)
Between EMS-5 and EMS-6 (Safe input contact 1)
Signal judgment
Signal terminal
Open
Short-circuit
Used to emergency-stop the robot from the external
equipment.
While this signal is open, the processing of robot emergency
stop is executed.
Use this signal by connecting a safety device such as external
emergency stop switch, photoelectric type sensing safety
device and safety mat switch.
If the safety input contact is opened, a short-circuit occurs
between the system output signals EMSST_A and EMSST_B.
EX_SVON (I)
EMS*B
~EMS*C (I)
SVST_A
~SVST_B (O)
EMSST_A
~EMSST_B (O)
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INTERFACE MANUAL
ON OFF
(Emergency (Normal)
stop)
O
O
STE 80729