2-21 Installation and connectionInstallation
Fig.2-14 ： Examples of safety measures (Wiring example 5)
CNUSR11
*1
*2
14/7
30/23
13/6
29/22
12/5
28/21
10/3
26/19
11/4
27/20
8/1
24/17
+24V
+24V
+24V
+24V
+3.3V
+3.3V
+3.3V
+3.3V
+3.3V
+3.3V
CNUSR11
*1
*2
14/7
30/23
13/6
29/22
12/5
28/21
10/3
26/19
11/4
27/20
8/1
24/17
+24V
+24V
+24V
+24V
+3.3V
+3.3V
+3.3V
+3.3V
+3.3V
+3.3V
Monitor
Circuit
T/B emergency stop switch
Internal emergency stop circuit
Internal power supply 24V
Error output
Mode output
Emergency stop output
Mode selector
switch input
Monitor
T/B emergency stop switch
Internal emergency stop circuit
Internal power supply 24V
Error output
Mode output
Emergency stop output
Mode selector
switch input
Door switch
input
Door switch
input
RIO
RIO1
Safety
extension
unit
A1 B1
A2 B2
*3
COM+
Safety input 1
(SDI1)
*4
*1
RIO
RIO1
Safety
extension
unit
A1 B1
A2 B2
*3
COM+
Safety input 1
(SDI1)
*4
*1
<Wiring example 5>: Connecting an emergency stop switch of a peripheral device to two robot controllers when using collaborative operation
mode
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>
If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency stop state.
When the controller power is OFF, the peripheral devices are in the emergency stop state.
*1) The CNUSR11 port and SDI1 port both have two rows of terminals, indicating that there are two channels. Both channels must be
connected.
*2) This is the emergency stop switch of the teaching pendant that is connected to the robot controller.
*3) If a Safety extension unit is not connected to the robot controller, the error H2260 "Safety function execution disabled (No extended
safety unit)" will occur.
*4) Refer to the section
Page 25, "2.3.6 Connecting the safety extension unit to the controller"
