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6.1.7 Examples of safety measures
<Wiring example 1>: Connect the emergency stop switch of peripheral equipment to the robot controller.
The power supply for emergency stop input uses the power supply in the robot controller.
<Operation of the emergency stop>
If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency
stop state.
Robot controller
ロボットコントローラ
OP非常停止
OP
Emer -
ボタン
gency
stop
button
TB
TB非常停止
Emer -
ボタン
gency
stop
button
Internal emergency stop
内部非常停止回路
circuit
[Caution] Since we have omitted the information in part because of explanation, there is the section different from the
product. Also refer to
EMGIN1/2
ロボットコント
Power supply in the
robot controller 24V
ローラ内電源 24V
1A/1B
2A/2B
3A/3B
4A/4B
RA
5A/5B
6A/6B
7A/7B
8A/8B
9A/9B
RA
10A/10B
11A/11B
RA
EMGOUT1/2
1A/1B
2A/2B
3A/3B
4A/4B
5A/5B
6A/6B
Page 64, "Fig.3-21 ： External emergency stop
Short circuit
短絡(出荷時短絡済)
(short-circuited)
Short circuit
短絡(出荷時短絡済)
(short-circuited)
Door switch input
ﾄﾞｱｽｲｯﾁ入力
Safety
安全柵のドア
fence door
Enabling
ｲﾈｰﾌﾞﾘﾝｸﾞ
device
ﾃﾞﾊﾞｲｽ
*1)EMGIN1/2, and EMGOUT1/2 have
}
*2) 1A/1B, and 2A/2B terminal of
Error output
エラー出力
}
*3)5A/5B, and 6A/6B terminal of
モード出力
Mode output
Notes) If "*2" and "*3" are removed,
}
Contactor control
付加軸用コンタクタ
output for addi -
コントロール出力
tional axes
*4) The emergency stop button of the
*5) The emergency stop button of T/
*6) Emergency stop input relay.
connection".
Emergency stop switch
非常停止スイッチ
(2- contact type)
（2接点タイプ）
Peripheral
equipment
周辺装置
the two terminals separately, and
show that they are the two lines.
Always connect the two lines.
EMGIN is short-circuited at
factory shipments.
EMGIN is short-circuited at
factory shipments.
it will be in the emergency stop
state.
robot controller operation panel.
B connected to the robot
controller.
Safety
6Safety
-
-
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