Digital Input (Di) - JAKA C Series Hardware User Manual

In most applications, to facilitate the security operation, one or more additional emergency stop or protective
stop switch is needed. Figure 5-5 shows the working principles of one or more emergency stop switch. The V+
and V- can also be connected to the external 24V power supply.
3. Protective stop switch
The protective stop function supports automatic recovery (See JAKA Software Manual for details). The door
switch is an application case of the protective stop device. When the door is open, the robot stops. The wiring
is shown in Figure 5-6:
Protective stop Signal switch

Digital Input (DI)

5.3.3
DI(1~8)
1 2 3 4 5 6 7 8
V+
P1
File Version: 3.2
Figure 5-5 Emergency stop switch wiring
Figure 5-6 Protective stop switch wiring
DO(1~8)
1 2 3 4 5 6 7 8
V-
P2
Figure 5-7 Digital input
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Protective stop Multiplexer switch
DI(9~16)
9 10 11 12 13 14 15 16
V+
P3
JAKA C Series Hardware User Manual
DO(9~16)
9 10 11 12 13 14 15 16
V-
P4