Table 19: Safety Controller (G9Sp) Pin Definition; Figure 27: Connecting Safety Devices - Techman Robot TM Palletizing Operator User Manual

Pin
SO0/SO1 Connected to SI_0 of robot control box
SO2/SO3 Connected to SI_1 of robot control box
SO4/SO5 Connected to CR1/CR3 of Safety Relay
SO6/SO7 Connected to SI_2 of robot control box
TM Palletizing Operator User's Manual Product Version: 1.0 / Document Version: 1.0
Safety Output
Description

Table 19: Safety controller (G9SP) pin definition

IMPORTANT:
Assure the following steps when connecting Safety Controller to external safeguard
devices.
1. Power off the system
2. Free the I/O by unplugging SI2/SI3 – SI8/SI9 from the pull-high 24V wire.
3. Apply isolation measure to prevent short-circuit and the emergent stop of the machine.

Figure 27: Connecting Safety Devices

Function
Emergency Stop
Robot Pause
Cut Pillar Power
Trigger SF4 (External Safeguard-Human-
Machine Safety Settings)
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