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2.10.2 Circuit configuration examples
The following shows category-specific safety circuit configuration examples using
a Handy Terminal which has an ENABLE switch. Customers should install the
appropriate safety measures for their system by referring to these safety circuit
configuration examples in order to use single-axis robots more safely.
This example uses the following input/output signals.
Reset switch, maintenance mode switch, door switch, external emergency stop
Input
Handy Terminal emergency stop output, ENABLE output
Output
•
Alarm (/ALM) signals (parallel I/O output signals) must be monitored at the host.
Serial I/O alarm (/ALM) signals must also be monitored at the host.
•
Depending on the customer system requirements, it may be necessary to build a
CAUTION
host system which shuts off the main power when an alarm (/ALM) occurs.
General connection diagram (Handy Terminal with ENABLE switch)
■
Emergency stop
SAFETY
Reset
Maintenance
Door
External
emergency stop
Safety output
L1
AC IN
N1
OUT
2.10 Safety circuit construction example
ENABLE
1 2 3 4
5 6 7 8
14 15
ES1
+24V
Safety circuit
Connection
check
MPRDY
+24V
Chapter 2 Installation and wiring
HT1-D
7 8
COM1
7 8
ES2
L1
N1
MPRDY
L
AC
+5V
Status
N
OUT
Internal
+24V
ES1
ES2
4 5
7
8
EXT
ES1
ES2
MPRDY1
MPRDY2
ES+
ES-
Controller
E-STOP
Status
GND
24V_GND
3
6
EXT
2-27
1
2
3
4
5
6
7
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