ABB IRB 6600 - 175/2.55 User Manual page 292

5 Electrical connections
5.4.1 The MOTORS ON/MOTORS OFF circuit
Section 5.4: Customer connections on controller
5.4.1 The MOTORS ON/MOTORS OFF circuit
Outline diagram The MOTORS ON/MOTORS OFF circuit is made up of two identical chains of switches.
The diagram shows the available customer connections, AS, GS and ES.
xx0100000174
A
B
C
D
E
F
G
H
J
K
L
M
N
P
R
S
T
Function of the The circuit monitors all safety related equipment and switches. If any of the switches is
MOTORS ON/
opened, the MOTORS ON/MOTORS OFF circuit switches the power to the motors off.
MOTORS OFF
As long as the two chains are not identical, the robot will remain in MOTORS OFF mode.
circuit
90
A
B
H
J
K
L
ES (emergency stop)
LS (Limit switch)
Solid state switches
Contactor
Mains
Drive unit
Second chain interlock
GS (general mode safeguarded space stop)
AS (Automatic mode safeguarded space stop)
ED (TPU enabling device)
Manual mode
Motor
Automatic mode
Operating mode selector
RUN
EN1
EN2
A
C
G
R S T
N
P
E
D
F
M
3HAC 16245-1