Doosan H2017, Installation Manual, Page: 65 / 190

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4.2.1 Setting the Terminal Block for Contact Input (TBSFT)
The safety I/O of the controller consists of dual contact input terminals for connecting safety devices.
These terminals are categorized into two groups depending on their use.
•
Two pairs of external emergency contact in on the left: Used to connect devices required for
emergency stopping such as external emergency switch.
•
Two pairs of protective device connect in on the right: Used to connect devices for protective
stopping such as light curtain and safety mat.
If no external safety device is connected, connect each contact input as follows:
The external safety device signal recognized by the safety controller depending on the normally closed
contact status, where all four contact inputs are normally closed, is as follows:
Contact
Status
EM1 contact EM2 contact PR1 contact PR2 contact
Close Normal Normal Normal Normal
Open Emergency Stop Emergency Stop Protective Stop Protective Stop
Warning

Do not connect the safety signal to regular PLCs that are not safety PLCs. Failure to do this will
result in inappropriate operation of the safety stop function, which can cause severe injury or
death of the user.

If any of the contacts are open, the robot will stop operation according to the safety stop mode
setting, and the LED on the right side of the TBSFT lights up. EMGA (Red), EMGB (Red),
PRDA (Yellow), PRDB (Yellow)
Caution

To check for connection losses and connection shortages, this terminal must be connected to
devices that output a safety signal as contacts. To connect peripherals that output safety signals
as voltages to the safety controller, refer to the description for the Configurable Digital I/O
Terminal Block.
Ext er nal
Em er gency
Cont act In
Pr ot ect ive
Dev ice
Cont act In