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6Safety
<Wiring example 2>: Connect the emergency stop switch of peripheral equipment to the robot controller.
The power supply for emergency stop input uses the power supply of peripheral equipment.
<Operation of the emergency stop>
Robot controller
OP
OP非常停止
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
Safety
If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the
emergency stop state.
ロボットコントローラ
Power supply in the
ロボットコント
robot controller 24V
ローラ内電源 24V
RA
Page 64, "Fig.3-21 ： External emergency stop
EMGIN1/2
1A/1B
Not connected
未接続
2A/2B
3A/3B
4A/4B
5A/5B
6A/6B
7A/7B
Door switch input
ﾄﾞｱｽｲｯﾁ入力
8A/8B
9A/9B
RA
10A/10B
11A/11B
RA
Enabling
ｲﾈｰﾌﾞﾘﾝｸﾞ
device
ﾃﾞﾊﾞｲｽ
EMGOUT1/2
1A/1B
}
Error output
エラー出力
2A/2B
3A/3B
}
Mode output
モード出力
4A/4B
5A/5B
Contactor control
}
付加軸用コンタクタ
output for addi -
6A/6B
コントロール出力
tional axes
Emergency stop switch
非常停止スイッチ
(2- contact type)
（2接点タイプ）
Safety
fence door
安全柵のドア
*1)EMGIN1/2, and EMGOUT1/2 have
the two terminals separately, and
show that they are the two lines.
Always connect the two lines.
*2) 1A/1B, and 2A/2B terminal of
EMGIN is short-circuited at
factory shipments. Remove it, and
connect the power supply of
peripheral equipment.
Connect the power supply of
peripheral equipment by the
polarity shown in the figure.
*3)5A/5B, and 6A/6B terminal of
EMGIN is short-circuited at
factory shipments.
Remove it and connect with the
power supply ground of peripheral
equipment.
*4) The emergency stop button of the
robot controller operation panel.
*5) The emergency stop button of T/
B connected to the robot
controller.
*6) Emergency stop input relay.
connection".
Peripheral
equipment
周辺装置
Power supply in
周辺装置側電源
the Peripheral
24V
equipment 24V
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