IAI MSEL, Instruction Manual, Page: 63 / 234

Chapter 2 Wiring
55
2.3.2 Wiring the Emergency Stop Circuit (System I/O)
Construction is made with the emergency stop input and the input terminal of the enable
signal.
The wires are to be connected to the enclosed connectors (plugs). Peel the sheath on the
applicable cable for 10mm, and insert to a connector.
Item PC/PCF/PCX Type PG/PGF/PGX Type
Drive-source cutoff
circuit Built-in
(Hard-wired configuration)
Conforming category B B, 1 to 3
Redundancy in safety
circuit - Achieved by an external circuit.
Operation upon
emergency stop Decelerate the actuator at the emergency deceleration (All axes
parameter No. 24, No. 205, each axis parameter No. 136) to a
stop, turn OFF the servo, and then cut off the drive source.
Recovery from
emergency stop Recover by cancelling emergency stop by system I/O
External output of
emergency stop status
Possible. (Set by I/O parameter No. 48.)
[Refer to 2.2.2 and 2.2.3 for the basic circuit configuration.]
Left Right
System I/O Connector Model Remarks
Cable side
DFMC1,5/6-ST-3,5
(PHOENIX CONTACT) Enclosed in
standard package
Controller side
DMC1,5/6-G1-3,5P20THR
(PHOENIX CONTACT)
Pin
No.
Signal Name Class Description
Applicable
cable
diameter
12 EMGIN IN Emergency stop detection input
11 EMGOUT +24V
24-V power output for emergency stop
detection input
(30V DC, Max0.5A)
10 EMGS1+ line+
9 EMGS1- line-
They are the cables to connect to the
emergency stop circuit on the teaching
pendant when a teaching pendant is to be
connected. When no teaching pendant is to
be connected, 1+ and 1- are short-circuited
the PC/PCF/PCX type.
8 EMGS2+ line+
Left
side
7 EMGS2- line-
(Used in PG/PGF type, Not used in PC/PCF
type)
They are the cables to connect to the
emergency stop circuit on the teaching
pendant when a teaching pendant is to be
connected. When no teaching pendant is to
be connected, 2+ and 2- are short-circuited.
6 ENBIN IN Enable detection input
5 ENBOUT +24V
24-V power output for enable detection input
(30V DC, Max0.5A)
4 ENBS1+ line+
3 ENBS1- line-
They are the cables to connect to the enable
circuit on the teaching pendant when a
teaching pendant is to be connected. When
no teaching pendant is to be connected, 1+
and 1- are short-circuited the PC/PCF/PCX
type.
2 ENBS2+ line+
Right
side
1 ENBS2- line-
(Used in PG/PGF type, Not used in PC/PCF
type)
They are the cables to connect to the
emergency stop circuit on the teaching
pendant when a teaching pendant is to be
connected. When no teaching pendant is to
be connected, 2+ and 2- are short-circuited.
1.25 to
0.3mm
2
(AWG16
to 22)
Front view of
connector on
controller side
12 6
7 1