6Safety
Safety 6-99
Fig.6-5 ： Example of safety measures （
Case
５ ）
(1) Use a 2-contact type switch for all switches.
(2) Install a limit switch on the safety fence's door. With a constantly open contact (a contact), wire to the door
switch input terminal so that the switch turns ON (is conducted) when the door is closed, and turns OFF (is
opened) when the door is open.
(3) Use a manual-return type 2b-contact for the emergency stop button.
(4) Classify the faults into minor faults (faults that are easily restored and that do not have a great effect) and
major faults (faults that cause the entire system to stop immediately, and that require care in restoration),
and wire accordingly.
1A/1B
2A/2B
3A/3B
4A/4B
5A/5B
6A/6B
8A/8B
9A/9B
1A/1B
2A/2B
3A/3B
4A/4B
10A/10B
11A/11B
EMGIN1/2
EMGOUT1/2
EMGIN1/2
Robot servo
RA
}
}
Contact for servo amplifier in general
servos in general
5A/5B
6A/6B
}
ON
ON
RA
RA
RA
RA
RA
RA
RA
}
Robot controller
External emergency
stop input
Short
Short
system emergency
stop output
Constitute by customer
Door switch input
Error output
→Include S/W
emergency stop
Mode output
Enabling device input
Short
Internal emergency stop circuit
OP emergency
stop button
TB emergency
stop button
Peripheral equipment
Internal emergency
stop circuit
Example of customer wiring (case 5)
Contact for servo amplifier
Time chart
Additional axis
contactor
control
output
<Case ５ > ： The synchronization with the servo amplifier for addition axes
Emergency stop input
I/O
Connection
External emergency stop
input
I
○
Door switch input
I
Enable input
I
Error output
O
Additional axes
contactor control output
O
○
Mode output
O
External relay wiring
[Caution] Since we have omitted the information in part because of explanation, there is the section
different from the product.
