Omron MD Series User Manual page 114

3 Installation
The following figure shows the pin arrangements for the SCPU connector on the AMR.
PIN 1
PIN 10
The information in the table below describes the signal designations for the SCPU connector.
Pin Number
1
2
3
4
5
6
7
8
9
10
11
12
13
14
3-18
PIN 9
PIN 18
Item
Emergency stop channel 1 input
Emergency stop channel 2 input
Safety output 1
Protective stop channel 1 input
Ground
24 VDC
Alternate safety zone input 1
No motion output 1
Emergency stop channel 1 out-
put
Emergency stop channel 2 out-
put
Safety output 2
Protective stop channel 2 input
Ground
AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Description
Dual-channel emergency stop circuit inputs.
Monitored for simultaneous switching within 500
ms.
Refer to 4-18 Emergency Stop on page 4-37 for
more information.
Dual-channel safety output.
Refer to 4-18 Emergency Stop on page 4-37 for
more information.
Dual-channel protective stop circuit input.
Monitored for simultaneous switching within 500
ms.
Refer to 4-19 Protective Stops on page 4-39 for
more information.
For use with alternative safety zone / protective
stop circuits.
Do not connect external loads to 24 VDC termi-
nals.
Dual-channel alternate safety zone circuit input.
Monitored for simultaneous switching within 500
ms.
Refer to 4-25-2 Alternate Safety Laser Scanner
Zones on page 4-73 for more information.
Dual-channel no motion output.
Refer to 4-30 No Motion Signals on page 4-80 for
more information.
Dual-channel emergency stop circuit outputs.
Refer to 4-18 Emergency Stop on page 4-37 for
more information.
Dual-channel safety output circuit.
Refer to 4-18 Emergency Stop on page 4-37 for
more information.
Dual-channel protective stop circuit input.
Monitored for simultaneous switching within 500
ms.
Refer to 4-19 Protective Stops on page 4-39 for
more information.