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6Safety
<Wiring example 4>: Connect the emergency stop switch of peripheral equipment, and the door switch to two robot controllers,
and it interlocks. Connect the enabling device to the robot controller.The power supply for emergency stop
input uses the power supply of peripheral equipment. Monitor the emergency stop state by the peripheral
equipment side.
<Operation of the emergency stop>
Robot controller #1
ロボットコントローラ ＃１
Power supply in the
robot controller 24V
OP
OP非常停止
Emer -
ボタン
gency
stop
button
TB非常停止
ボタン
TB
Emer -
gency
stop
button
Internal emergency
stop circuit
内部非常停止回路
Robot controller #1
ロボットコントローラ ＃１
Power supply in the
robot controller 24V
OP
OP非常停止
Emer -
ボタン
gency
stop
button
TB非常停止
ボタン
TB
Emer -
gency
stop
button
Internal emergency
stop circuit
内部非常停止回路
[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. And, if the emergency stop switch of OP or T/B is pushed in the state of the power of robot
controller OFF, peripheral equipment state can be the emergency stop also.
EMGIN1/2
ロボットコント
ローラ内電源 24V
1A/1B
Not connected
未接続
2A/2B
3A/3B
*7)
4A/4B
RA
5A/5B
*3)
6A/6B
7A/7B
Door switch input
8A/8B
ドアスイッチ入力
9A/9B
RA
10A/10B
11A/11B
RA
Enabling
イネーブリング
device
デバイス
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
6A/6B
output for addi -
コントロール出力
tional axes
EMGIN1/2
ロボットコント
ローラ内電源 24V
1A/1B
Not connected
未接続
2A/2B
3A/3B
*7)
4A/4B
RA
5A/5B
*3)
6A/6B
7A/7B
Door switch input
8A/8B
ドアスイッチ入力
9A/9B
RA
10A/10B
11A/11B
RA
Enabling
イネーブリング
device
デバイス
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
6A/6B
output for addi -
コントロール出力
tional axes
*5) The emergency stop button of the robot controller operation panel.
*6) The emergency stop button of T/B connected to the robot controller.
*7) Emergency stop input relay.
*8) Refer to
Page 64, "Fig.3-21 ： External emergency stop
Emergency stop switch
非常停止スイッチ
(4- contact type)
（4接点タイプ）
周辺装置
の非常停止
出力
*4)
A-contact
ドアスイッチ出力
Safety fence door
安全柵のドア
周辺装置
の非常停止
出力
*1)EMGIN1/2, and EMGOUT1/2 have the two terminals separately,
and show that they are the two lines. Always connect the two
lines.
If necessary to stop two robots simultaneously by one emergency
stop switch please use the 4 contact type emergency stop switch.
*2) 1A/1B, and 2A/2B terminal of EMGIN is short-circuited at factory
shipments. Remove it, and connect the emergency stop switch
and 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.
Notes) Please use 5A/5B and 6A/6B terminal, connected.
*4) Please use a A contact type of the relay with the compulsive
guide.
Page 67, "3.6.4 Enabling device
connection".
Peripheral equipment
周辺装置
Power
周辺装置
supply24V
側電源24V
Circuit
周辺装置内部
RA
非常停止回路
Monitor
監視
Monitor
監視
RA
Monitor
監視
*4)
A-contact
function"for the enabling device.
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