ABB IRB 6600 - 175/2.55 User Manual page 300

5 Electrical connections
5.4.3 Connection of external safety relay
5.4.3 Connection of external safety relay
Description
The motor contactors K1 and K2 in the controller can operate with external equipment if
external relays are used.
The figure below shows two examples of how to connect the external safety relays:
Connection
examples
K2
K1
xx0100000246
A
B
C
D
E
F
G
98
E xt MON 2
E xt MON 1
C
E
AS GS
F
E
K
J
Panel unit
Relays with positive action
Robot 1
Robot 2
External supply
ES (emergency stop) out
Safety relay
A
A
X4:4
CONT 2
X4:3
24 V
X4:2
X4:1
X3:2
X3:1
X3:3
0 V
X3:4
CONT 1
D
AS GS
F
B
0 V
24 V
G
H
3HAC 16245-1