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1. SAFETY I/O interface overview
■ Connections using the RPB-E (RPB compatible with an enable switch) with external
emergency stop circuit
1
c
CAUTION
External emergency stop and the RPB emergency stop button are disabled when
pin 13 and pin 14 are directly shorted to each other on the SAFETY connector. Make
connections to ensure the system including the robot controller will always operate
2
safely.
3
4
5
6
7
8
9
10
7-6
Chapter 7 SAFETY I/O INTERFACE
Connections using the RPB-E (RPB compatible with an enable switch)
with external emergency stop circuit (PNP specifications)
RPB connector
Internally connected
to P.COM (STD.DIO)
24V
Internally connected
to N.COM (STD.DIO)
Motor power
relay coil
Motor power
supply circuit
Control power
supply
Emergency
stop switch
13
14
15
16
17
18
19
20
Service key
SAFETY
connector
3
E-STOPIN1
4
E-STOPIN2
5
E-STOPIN3
6
E-STOPIN4
7
LCKIN1
8
LCKIN2
9
LCKIN3
10
LCKIN4
1
DI02
P.COM
11
12
13
E-STOP24V
E-STOPRDY
14
MP READY
2
GND
L
N
L1
N1
Enable
switch
RPB-E
switch
Emergency
stop switch
External emergency
stop circuit
Use an external
control circuit.
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