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(1) External emergency stop connection [supplementary explanation]
OP Emergency
stop button
TB Emergency
stop button
CAUTION
CAUTION
Robot controller
Power supply in the
robot controller
24V
RA
RA
RA
Internal emergency
stop circuit
EMGIN1/2
1A/1B
Not connected
2A/2B
3A/3B
4A/4B
5A/5B
6A/6B
7A/7B
Door switch input
8A/8B
9A/9B
10A/10B
11A/11B
Enabling
device
EMGOUT1/2
1A/1B
}
Error output
2A/2B
3A/3B
}
Mode output
4A/4B
5A/5B
Contactor control
}
6A/6B
output for additional
axes
*1)
*1)
Emergency stop switch
(2-contact type)
Peripheral
equipment
Power
supply 24V
RA
Safety
fence door
6Safety
-
Monitor
Circuit
Monitor
Safety
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