Omron G9SX Series User Manual Download Page 27 | Manualshive

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3. Coordinated operation of worker and machine

G9SX

USER'S GUIDE

27

A

p

plica

tion Examples

Section

1

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Timing chart

(1) Before operation is started.
(2) Operator inserts workpiece
(3) Robot processes workpiece
(4) Both operator and robot enter the coordinated area: Only the G9SX-GS stops.
(5) The G9SX-GS restarts.
(6) Emergency stop button pressed: All units stop.

Emergency Stop Switch S1

Reset switch S2

Logical AND output L1

KM1, KM2 NC contact

KM1, KM2 NO contact

External indicator output UA

Logical AND input T41

Safety Sensor B control output
(monitoring the operator)

Safety Sensor A control output
(monitoring the robot)

Input B monitor output X4

Input A monitor output X3

External indicator output UB

Controls not related to safety

KM3, KM4 NC contact

KM3, KM4 NO contact

Robot movement enabled

Robot movement disabled

Robot movement enabled in
specific area only

G9SX-BC202

G9SX-GS226-T15

(3)

(1)

(4)

(5)

(2)

(6)

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Summary of Contents for G9SX Series

Page 1: ...USER S GUIDE G9SX G9SX Flexible Safety Unit G9SX NS Non Contact Door Switch Controller G9SX GS Safety Guard Switching Unit Cat No Z255 E1 01 ...

Page 2: ...hich enable various safety circuit patterns to be configured only by simple wiring provide the core components of such safety circuits Use the OMRON Flexible Safety Units in your machine and equipment to improve the safety designs and onsite worker safety measures Outline of this User s Guide Section 1 Application Examples Introduces applications that can be configured with the G9SX Section 2 Func...

Page 3: ...nductor 1 Semiconductor 1 or 2 channels 15 s 24 VDC Screw terminals G9SX AD322 T15 RT Spring cage terminals G9SX AD322 T15 RC 150 s Screw terminals G9SX AD322 T150 RT Spring cage terminals G9SX AD322 T150 RC 2 Semiconductor 2 Semiconductor 2 Semiconductor 15 s Screw terminals G9SX ADA222 T15 RT Spring cage terminals G9SX ADA222 T15 RC 150 s Screw terminals G9SX ADA222 T150 RT Spring cage terminals...

Page 4: ...puts 4 4 outputs 3 Output Configuration OFF delayed Safety Outputs 0 None 2 2 outputs 4 4 outputs 4 Output Configuration Auxiliary Outputs 1 1 output 2 2 outputs 6 6 outputs 5 Max OFF delay Time Advanced Unit T15 15 s T150 150 s Basic Unit No indicator No OFF delay Safety Guard Switching Unit T15 15 s D40A Controller T03 3 s Expansion Unit No indicator No OFF delay T OFF delay 6 Terminal Block Typ...

Page 5: ...ed operation of worker and machine 25 3 1 Manufacturing Automotive Parts Using Semi automatic Processing 25 4 Safety Measures for limited operations 28 4 1 Manufacturing Flat panel Displays Maintenance 28 4 2 Machining Center Enabling Switch 31 4 3 LCD Manufacturing Guard Lock Control 34 Section 2 Functions of G9SX 37 1 Function list of G9SX series 38 2 Functions of each Unit 39 2 1 Basic Unit 39 ...

Page 6: ... Fault Diagnosis 68 2 10 Connecting Expansion Units 69 2 11 Confirming Settings 70 Section 4 Ratings and Specifications 71 1 Ratings 72 1 1 Advanced Unit Basic Unit 72 1 2 Non contact Door Switch Controller 73 1 3 Safety Guard Switching Unit 74 1 4 Expansion Unit 75 2 Characteristics 76 2 1 Advanced Unit Basic Unit 76 2 2 Non contact Door Switch Controller 77 2 3 Safety Guard Switching Unit 78 2 4...

Page 7: ... 1 4 Machine Tool 17 2 Using Non contact Door Switch 20 2 1 Pick and Place Machine 20 2 2 Small Assembly System 22 3 Coordinated operation of worker and machine 25 3 1 Manufacturing Automotive Parts Using Semi automatic Processing 25 4 Safety Measures for limited operations 28 4 1 Manufacturing Flat panel Displays Maintenance 28 4 2 Machining Center Enabling Switch 31 4 3 LCD Manufacturing Guard L...

Page 8: ...Qty Safety input to be applied Page G9SX BC 1 Emergency Stop Switch 39 G9SX AD 1 Safety Light Curtains 40 2 Safety Light Curtain Processing section Stop Segment A Basic Unit G9SX BC 1 Emergency Stop Switch 1 Emergency Stop Switch Segment B 2 Safety Light Curtain Processing section Advanced Unit G9SX AD Segment A Segment A Segment B Stop Stop Segment B Stop Operation Example 2 Safety LightCurtain i...

Page 9: ...efer to the datasheet or instruction sheet for the Safety Sensor 3 Use Safety Sensors with PNP control outputs S14 A2 S24 S34 S44 S54 L1 X1 X2 T11 A1 T12 T21 T22 T31 T32 T33 Y1 T41 T42 S14 A2 S24 L1 L2 X1 X2 T11 A1 T12 T21 T22 T31 T32 T33 Y1 KM2 KM1 S2 12 11 21 22 24V 24V KM1 KM2 M1 KM2 KM1 S1 24V 24V 24V M2 KM4 KM3 S34 M3 KM6 KM5 OFF NC NC GND G9SX AD322 T15 Control circuit G9SX BC202 Control cir...

Page 10: ...n pressed Both the upper and lower Unit stop G9SX AD322 T15 lower unit Reset switch S2 Emergency Stop Switch S1 KM1 KM2 NC contact KM1 KM2 NO contact Logical AND output L1 Logical AND input T41 Safety Light Curtain Operation command Rotation of motor KM3 KM4 NC contact KM5 KM6 NC contact KM3 KM4 NO contact KM5 KM6 NO contact OFF delay time OFF delay time G9SX BC202 upper unit 2 1 ...

Page 11: ... door 3 Pallet changer door 1 Emergency Stop Switch 2 Main door Segment A Segment B 1 The Emergency Stop Switch is pressed Stop Stop Segment C Stop Segment A Segment B 2 The main door is opened Stop Stop Segment C Stop Segment A Segment B 3 The pallet changer door is opened Stop Stop Segment C Stop Segment A Segment B 4 The tool changer door is opened Stop Stop Segment C Stop Operation Example Adv...

Page 12: ... 4 M3 KM6 KM5 OFF AND S8 Open S7 NC NC Feedback Loop Lock release signal GND GND G9SX AD322 T15 Main door Control circuit G9SX BC202 Control circuit Feedback Loop S14 A2 S24 S34 S44 S54 L1 X1 X2 T11 A1 T12 T21 T22 T31 T32 T33 Y1 T41 T42 24V 24V 24V 24V OFF AND NC GND G9SX AD322 T15 Tool changer door Control circuit KM8 KM7 PLC etc Feedback Loop S14 A2 S24 S34 S44 S54 L1 X1 X2 T11 A1 T12 T21 T22 T3...

Page 13: ...ch S1 Reset switch S2 Logical AND output L1 KM1 KM2 NC contact KM1 KM2 NO contact Logical AND input T41 Logical AND input T41 Logical AND input T41 KM3 KM4 NC contact KM3 KM4 NO contact Safety Limit Switch S4 Safety Door Switch S7 Safety Door Switch S8 Reset switch S6 Operation command Rotation of motor Operation command Rotation of motor Operation command Rotation of motor OFF delay time OFF dela...

Page 14: ...section restarts 6 If the Emergency Stop Switch is pressed unit A unit B and unit C will stop G9SX BC202 Unit A G9SX AD322 T15 Unit B Processing section cover G9SX AD322 T15 Unit C Conveyor section cover Emergency Stop Switch S1 Reset switch S2 Logical AND output L1 KM1 KM2 NC contact KM1 KM2 NO contact KM3 KM4 NC contact KM3 KM4 NO contact Operation command Rotation of motor Logical AND input T41...

Page 15: ... Switch 39 G9SX AD 2 Safety Door Switches Set of two 40 Logical AND connection Safety Door Switch Safety Door Switch Advanced Unit G9SX AD Advanced Unit G9SX AD Segment C Segment B Basic Unit G9SX BC Logical AND connection 1 Emergency Stop Switch Segment A 3 The conveyor section cover is opened 1 The Emergency Stop Switch is pressed 2 The processing section cover is opened Operation Example 2 Proc...

Page 16: ...4 M3 KM6 KM5 Open S4 Feedback Loop S14 A2 S24 S34 S44 S54 L1 X1 X2 T11 A1 T12 T21 T22 T31 T32 T33 Y1 T41 T42 24V 24V KM5 KM6 OFF AND NC GND G9SX AD322 T15 Unit C Control circuit KM6 KM5 Motor controller Motor controller S34 4 M2 KM4 KM3 Open S3 PLC etc Feedback Loop S14 A2 S24 S34 S44 S54 L1 X1 X2 T11 A1 T12 T21 T22 T31 T32 T33 Y1 T41 T42 24V 24V KM3 KM4 OFF AND NC GND G9SX AD322 T15 Unit B Contro...

Page 17: ...D 2 Left door 3 Right door Safety Door Switch Segment A Segment B Segment C Advanced Unit G9SX ADA Logical AND connection Logical AND connection Logical AND connection Transport section Basic Unit G9SX BC 1 Emergency Stop Switch 2 Left door 3 Right door 1 The Emergency Stop Switch is pressed 2 The left door is opened 3 The right door is opened Operation Example 1 Emergency Stop Switch Segment A St...

Page 18: ... A2 S24 S34 S44 S54 L1 X1 X2 T11 A1 T12 T21 T22 T31 T32 T33 Y1 T41 T42 24V 24V KM3 KM4 OFF AND Left drive section Transport section Right drive section NC GND G9SX AD322 T15 Left door Control circuit KM4 KM3 M3 KM6 KM5 M2 KM4 KM3 Open S4 PLC etc Feedback Loop S14 A2 S24 S34 S44 S54 L1 X1 X2 T11 A1 T12 T21 T22 T31 T32 T33 Y1 T41 T42 24V 24V KM5 KM6 OFF AND NC GND G9SX AD322 T15 Right door Control c...

Page 19: ... Switch is pressed the Upper Unit Middle Unit and Lower Unit will stop G9SX AD322 T15 middle unit Left door G9SX BC202 upper unit G9SX AD322 T15 middle unit Right door Emergency Stop Switch S1 Reset switch S2 Logical AND output L1 KM1 KM2 NC contact KM1 KM2 NO contact G9SX ADA222 T150 lower unit Logical AND output L1 Logical AND input T41 Logical AND input T41 Logical AND input T41 Logical AND inp...

Page 20: ...A 1 Emergency Stop Switch Non contact Door Switch D40A 43 G9SX NSA 1 Emergency Stop Switch Motor 1 Emergency Stop Switch 1 The Emergency Stop Switch is pressed Operation Example Cover Cover 2 Non contact Door Switch 2 Non contact Door Switch D40A Segment A Stop Segment A Stop Segment A Stop Segment A Stop Segment A Stop Segment A Stop Segment A Stop Motor Stop Segment A Stop Segment A Stop Segment...

Page 21: ...Motor controller Operation command X2 X1 L1 S54 S44 A2 A1 S24 S14 T11 T12 T21 T22 T31 T32 T33 T41 T42 Y1 D1 D2 D3 D4 KM2 KM1 Feedback Loop Non contact Door Switch Actuator Black Brown White blue PLC etc NC NC Motor controller NC NC S1 Emergency Stop Switch S2 Non contact Door Switch S3 Reset switch KM1 KM2 Contactor M1 3 phase motor Note This example corresponds to category 2 Emergency Stop Switch...

Page 22: ...d Page G9SX BC 1 Emergency Stop Switch 39 G9SX NS 2 Non contact Door Switches D40A Set of two 42 Robot A Robot B Logical AND connections 1 Emergency Stop Switch D40A G9SX NS G9SX NS 2 Robot door A 3 Robot door B 2 Robot door A 3 Robot door B G9SX BC D40A 2 Robot door A opened 3 Robot door B opened 1 Emergency Stop Switch Stop Stop Stop Stop Stop Robot A Stop Stop Stop Stop Robot A Stop Stop Stop S...

Page 23: ...KM5 S14 S24 A2 A1 D1 D3 D4 Y1 T31 T32 T33 T41 T42 D2 L1 X1 X2 NC Y1 M2 KM4 KM3 KM4 KM3 24V 24V OFF AND G9SX NS202 Robot door A S3 KM4 KM3 S14 S24 A2 A1 D1 D3 D4 T31 T32 T33 T41 T42 D2 L1 X1 X2 KM2 KM1 S2 12 11 21 22 24V M1 KM2 KM1 S1 24V NC G9SX BC202 Control circuit KM2 KM1 S14 S24 A2 A1 T11 T11 T12 T21 T22 T31 T32 T33 Y1 L1 L2 X1 X2 Feedback Loop GND GND GND Control circuit PLC etc Actuator Non ...

Page 24: ...gency Stop Switch is pressed the upper unit lower unit A and lower unit B will all stop G9SX NS202 lower unit Robot A G9SX NS202 lower unit Robot B Emergency Stop Switch S1 Reset switch S2 Logical AND output L1 KM1 KM2 NC contact KM1 KM2 NO contact G9SX BC202 upper unit Logical AND input T41 Logical AND input T41 KM3 KM4 NC contact KM3 KM4 NO contact KM5 KM6 NC contact KM5 KM6 NO contact Non conta...

Page 25: ...BC 1 Emergency Stop Switch 39 G9SX GS 1 Light Curtain Light Curtain 44 Basic Unit G9SX BC Logical AND connection 1 Emergency Stop Switch A22E 1 Emergency Stop Switch 2 Safety Light Curtain A 3 Safety Light Curtain B Safety Light Curtain F3SJ Safety Light Curtain F3SJ 2 Safety Light Curtain A 3 Safety Light Curtain B Safety Guard Switching Unit G9SX GS Robot Contactor Auto switching Emergency Stop ...

Page 26: ...4V 24V G9SX BC202 Control circuit G9SX GS226 T15 GND GND 24V GND GND M2 KM4 KM3 Auto Manual OFF AND T42 T41 T33 T32 T31 Y4 Y2 T72 T71 T62 T61 M2 M1 Y3 Y1 T22 T21 T12 T11 A1 KM3 KM4 Control circuit UB UA X4 X3 X2 X1 L1 KM4 KM3 S54 S44 S24 S14 A2 M1 KM1 KM2 KM2 KM1 Y1 T33 T32 T31 T22 A1 T11 T12 T21 X2 X1 L2 L1 S14 S24 KM1 KM2 A2 F3SJ A F3SJ A NC Emergency Stop Switch PLC etc Feedback loop Receiver E...

Page 27: ...top Emergency Stop Switch S1 Reset switch S2 Logical AND output L1 KM1 KM2 NC contact KM1 KM2 NO contact External indicator output UA Logical AND input T41 Safety Sensor B control output monitoring the operator Safety Sensor A control output monitoring the robot Input B monitor output X4 Input A monitor output X3 External indicator output UB Controls not related to safety KM3 KM4 NC contact KM3 KM...

Page 28: ...ch 4 Mode selector 3 Conveyor cart 4 Mode selector 2 Cover Safety Limit Switch D4F Key type Selector Switch A22K Safety Door Switch D4NS Safety Guard Switching Unit G9SX GS Contactor Basic Unit G9SX BC Logical AND connection 1 Emergency Stop Switch A22E Conveyor cart Emergency Stop Switch Normal operating mode Maintenance mode Cover Conveyor cart When pressed processing will stop When the cover is...

Page 29: ...12 T21 T22 T31 T32 T33 Y1 KM2 KM1 S2 12 11 21 22 24V KM1 KM2 M1 KM2 KM1 S1 KM4 KM3 24V 24V 24V M2 KM4 KM3 KM4 KM3 G9SX BC202 Control circuit S14 A2 S24 S44 S54 L1 X3 X2 X1 X4 UA T11 A1 T12 T21 Y1 Y3 T22 T61 T62 M1 M2 T71 Y2 Y4 T72 T31 T32 T33 T41 T42 OFF AND Auto Manual G9SX GS226 T15 Control circuit 23 24 11 12 11 12 S3 S4 21 22 S6 24V GND UB 24V S5 NC Feedback loop Emergency Stop Switch PLC etc ...

Page 30: ...and Limit Switch S4 are turned OFF the G9SX GS stops 9 Switch to normal operating mode and when the door is closed restart the G9SX GS 10 Emergency stop button pressed All units stop Emergency Stop Switch S1 Reset switch S2 Logical AND output L1 KM1 KM2 NC contact KM1 KM2 NO contact Input B monitor output X4 Input A monitor output X3 External indicator output UB External indicator output UA Logica...

Page 31: ...bling Device Enabling Device Guard Lock Safety Door Switches 3 Enabling Switch Emergency Stop Switch Normal operating mode Maintenance mode When pressed processing will stop When the door is opened processing will stop The enabling switch is disabled When pressed processing will stop Door Switch is disabled Processing will be possible only when the operator is gripping the enabling switch Emergenc...

Page 32: ...LC etc S1 KM4 KM3 24V 24V M2 KM4 KM3 KM4 KM3 PLC etc NC NC NC NC NC Feedback Loop Feedback Loop G9SX BC202 Control circuit S14 A2 S24 S44 S54 L1 X3 X2 X1 X4 T11 A1 T12 T21 Y1 Y3 T22 T61 T62 M1 M2 T71 Y2 Y4 T72 T31 T32 T33 T41 T42 OFF AND Auto Manual G9SX GS226 T15 Control circuit S3 S7 24V GND GND Enabling Switch S4 OPEN S5 KM3 KM4 31 32 11 12 Stop sigmal Door S6 UA UB 24V Indicator Diagnostic che...

Page 33: ...ing mode the lower unit will restart 8 If the door is opened while in Normal operating mode the lower unit will stop 9 The door is closed and the lower unit restarts 10 If the Emergency Stop Switch is pressed the upper unit and lower unit will stop Guard Lock Door Switch S4 Enabling Switch S3 Emergency Stop Switch S1 Reset switch S2 Logical AND output L1 KM1 KM2 NC contact KM1 KM2 NO contact G9SX ...

Page 34: ... Page G9SX BC 1 Emergency Stop Switch 39 G9SX GS 1 Guard Lock Door Switch Limit Switch 44 Guard Lock Door Switch Guard Lock Safety Door Switches 2 Guard Lock Door Switch 1 Emergency Stop Switch 3 Safety Limit Switch Safety Guard Switching Unit G9SX GS Motor Contactor Basic Unit G9SX BC Logical AND connection 1 Emergency Stop Switch A22E 3 Conveyor cart 2 Door Emergency Stop Switch Auto switching W...

Page 35: ...KM2 M1 KM2 KM1 PLC etc S1 KM4 KM3 24V 24V M2 KM4 KM3 KM4 KM3 NC NC NC NC Feedback Loop Feedback Loop G9SX BC202 Control circuit S14 A2 S24 S44 S54 L1 X3 X2 X1 X4 UA T11 A1 T12 T21 Y1 Y3 T22 T61 T62 M1 M2 T71 Y2 Y4 T72 T31 T32 T33 T41 T42 OFF AND Auto Manual G9SX GS226 T15 Control circuit S5 S6 Limit Switch Limit Switch Limit Switch Guard Lock Door Switch Mechanical lock S4 Conveyor cart S7 24V GND...

Page 36: ...tch is pressed 8 The conveyor cart moves while the door is open and the lower unit stops 9 The door is closed again The lower unit remains stopped 10 The reset switch is used to restart operation 11 If the Emergency Stop Switch is pressed the upper unit and lower unit will stop Emergency Stop Switch S1 Reset switch S2 Logical AND output L1 KM1 KM2 NC contact KM1 KM2 NO contact G9SX BC202 upper uni...

Page 37: ...X Section 2 Section 2 Functions of G9SX 1 Function list of G9SX series 38 2 Functions of each Unit 39 2 1 Basic Unit 39 2 2 Advanced Unit 40 2 3 Non Contact Door Switch Controller 42 2 4 Safety Guard Switching Unit 44 2 5 Expansion Unit 48 ...

Page 38: ...AND connections Inputs 2 inputs Outputs Safety inputs Emergency stop Door switch Non contact door switch D40A Light curtain Number of safety inputs 1 1 1 1 2 2 Safety outputs Instantaneous outputs 2 3 2 2 2 2 OFF delayed outputs 2 2 2 2 OFF delay time 0 to 15 s 0 to 150 s 0 to 15 s 0 to 150 s 0 to 3 s 0 to 15 s Expansion Unit connection Guard switching ...

Page 39: ...umber of outputs 2 outputs Item G9SX BC Page Logical AND connection input enable disable Cross fault detection mode 63 Reset mode 62 OFF delay time Switching mode External indicator fault diagnosis mode Safety Input Safety Instantaneous Output Logical AND Connection Output No T1 T2 FB ERR EI PWR L2 L1 S24 S14 A2 X2 T22 T21 A1 X1 T12 T11 Y1 T32 T33 T31 G9SX BC202 24VDC Marking Color Name PWR Green ...

Page 40: ...e Logical AND connection input enable disable 57 Cross fault detection mode 63 Reset mode 62 OFF delay time 65 Switching mode External indicator fault diagnosis mode Safety Input Safety Instantaneous Output Safety OFF delayed Output Logical AND Connection Output Logical AND Connection Input No OFF DELAY 0 5 0 4 0 3 0 2 15 10 7 5 4 3 2 1 5 1 0 6 0 7 0 S54 S44 S34 S24 S14 L1 A2 T42 T41 T22 T21 A1 X2...

Page 41: ...me 65 Switching mode External indicator fault diagnosis mode Safety Input Safety Instantaneous Output Safety OFF delayed Output Logical AND Connection Output Logical AND Connection Input No OFF DELAY 0 5 0 4 0 3 0 2 15 10 7 5 4 3 2 1 5 1 0 6 0 7 0 L1 S54 S44 S24 S14 L2 A2 T42 T41 T22 T21 A1 X2 X1 Y1 T12 T11 T33 T31 T1 ERR EI AND1 FB ED T2 PWR T32 T52 T51 G9SX ADA222 T150 24VDC AND2 Marking Color N...

Page 42: ...input Number of outputs 1 output Item G9SX NS Page Logical AND connection input enable disable 57 Cross fault detection mode Reset mode 62 OFF delay time Switching mode External indicator fault diagnosis mode D40A Input Safety Instantaneous Output Logical AND Connection Output Logical AND Connection Input No NS FB ERR AND EI PWR D4 L1 S24 S14 A2 X2 T42 T41 A1 X1 D2 D1 D3 T32 T33 T31 G9SX NS202 24V...

Page 43: ...icator fault diagnosis mode D40A Input Safety Input Safety Instantaneous Output Safety OFF delayed Output Logical AND Connection Output Logical AND Connection Input No OFF DELAY L1 S54 S44 S24 S14 D4 A2 T42 T41 T22 T21 A1 X2 X1 Y1 T12 T11 T33 T31 T1 ERR EI AND FB ED T2 PWR T32 D2 D3 D1 G9SX NSA222 T30 24VDC NS 0 5 0 4 0 3 0 2 3 0 2 5 2 0 1 8 1 4 1 2 1 0 0 9 0 8 0 6 0 7 0 Marking Color Name PWR Gre...

Page 44: ...mode 67 External indicator fault diagnosis mode 68 Safety Input Safety Input Safety Instantaneous Output Safety OFF delayed Output Logical AND Connection Output Logical AND Connection Input T31 T32 T33 T11 Y1 M1 M2 T12 T61 T62 Y2 Y3 T21 T22 X1 X2 X3 X4 S14 S24 T72 T71 T41 T42 24VDC T1 ERR G9SX GS226 T15 EI T6 FB ED UA PWR OFF DELAY UB 0 2 0 0 3 0 4 0 5 0 6 0 7 1 1 5 2 3 4 5 7 10 15 T2 T7 AND UA UB...

Page 45: ...te as long as the operator does not interrupt Safety Light Curtain B Note If the operator is able to completely enter the zone inside Safety Light Curtain B a presence detection device such as a Safety Mat is necessary as an additional safety measure Auto switching During normal operation During maintenance Door Switch Limit Switch The Door Switch monitors the opening and closing of the door durin...

Page 46: ...AND connection Safety Output Robot Moni toring Working condition G9SX GS Safety input External indicator Safety input A Safety input B OK to work Safety output Safety output Monitor output External indicator Input A monitor Input B monitor Input A monitor Input B monitor Input A monitor Input B monitor Input A monitor Input B monitor Safety input A Safety input B Safety output Safety input A Safet...

Page 47: ... indicator B Programmable Controllers CS CJ Series Normal operating mode Working condition G9SX GS Safety input External indicator Safety input A Safety input B Safety output Safety output Monitor output Mode selector External indicator Input A monitor Input B monitor Input A monitor Input B monitor Input A monitor Input B monitor Input A monitor Input B monitor Safety input A Safety input B Safet...

Page 48: ...nd Wiring Note Refer to 2 10 Connecting Expansion Units on page 69 LED Indicators Instantaneous outputs 4 outputs OFF delayed outputs None Number of inputs None Number of outputs None Item G9SX EX Page Logical AND connection input enable disable Cross fault detection mode Reset mode OFF delay time Switching mode External indicator fault diagnosis mode G9SX AD G9SX ADA G9SX NSA G9SX GS G9SX EX G9SX...

Page 49: ...Instantaneous outputs None OFF delayed outputs 4 outputs Number of inputs None Number of outputs None Item G9SX EX T Page Logical AND connection input enable disable Cross fault detection mode Reset mode OFF delay time See note 65 Switching mode External indicator fault diagnosis mode G9SX AD G9SX ADA G9SX NSA G9SX GS G9SX EX G9SX EX Insert the connector Insert the connector Safety OFF delayed Out...

Page 50: ...MEMO 50 G9SX USER S GUIDE ...

Page 51: ...it 55 1 5 Expansion Unit 56 2 Functions Wiring and Settings 57 2 1 Logical AND Connection 57 2 2 Response Time and Operation Time 60 2 3 Reset Mode 62 2 4 Cross Fault Detection 63 2 5 Connecting Safety Sensors and the G9SX 64 2 6 OFF delay Time 65 2 7 Non contact Door Switch 66 2 8 Switching Mode 67 2 9 External Indicator Fault Diagnosis 68 2 10 Connecting Expansion Units 69 2 11 Confirming Settin...

Page 52: ... 5 Connecting Safety Sensors and the G9SX Feedback reset inputs T31 T32 T33 Refer to 2 3 Reset Mode Cross fault detection input Y1 Refer to 2 4 Cross Fault Detection Instantaneous safety outputs S14 S24 Keep these outputs open when they are not used Logical AND connection output L1 L2 Refer to 2 1 Logical AND Connection Auxiliary monitor outputs X1 X2 Keep these outputs open when they are not used...

Page 53: ...tion input Y1 Refer to 2 4 Cross Fault Detection Instantaneous safety outputs S14 S24 S34 Keep these outputs open when they are not used OFF delayed safety outputs S44 S54 Keep these outputs open when they are not used Logical AND connection output L1 L2 Refer to 2 1 Logical AND Connection Auxiliary monitor outputs X1 X2 Keep these outputs open when they are not used See note 1 See note 2 S14 A2 S...

Page 54: ... AND connection inputs T41 T42 Refer to 2 1 Logical AND Connection Cross fault detection input Y1 Refer to 2 4 Cross Fault Detection Instantaneous safety outputs S14 S24 Keep these outputs open when they are not used OFF delayed safety outputs S44 S54 Keep these outputs open when they are not used Logical AND connection output L1 Refer to 2 1 Logical AND Connection Auxiliary monitor outputs X1 X2 ...

Page 55: ...tantaneous safety outputs S14 S24 Keep these outputs open when they are not used OFF delayed safety outputs S44 S54 Keep these outputs open when they are not used Logical AND connection output L1 Refer to 2 1 Logical AND Connection Auxiliary monitor outputs X1 X2 X3 X4 Keep these outputs open when they are not used External indicator outputs UA UB Refer to 2 9 External Indicator Fault Diagnosis Ex...

Page 56: ...ly circuit is not isolated 2 Relay outputs are isolated Signal name Terminal name Wiring Power supply inputs A1 A2 Connect the power supply plus 24 VDC to the A1 terminal Connect the power supply minus GND to the A2 terminal Safety outputs See note 13 14 23 24 33 34 43 44 Keep these outputs open when not used A2 X2 Power supply circuit Auxiliary output control Safety output control A1 K1 13 23 33 ...

Page 57: ...41 and T42 of the G9SX ADA222 Unit open and set the logical AND setting switch T41 T42 to OFF 2 When not connecting Unit C leave terminals T51 and T52 of the G9SX ADA222 Unit open and set the logical AND setting switch to OFF When connecting multiple Units to the input side follow the wiring example in the following diagram Note When a logical AND connection is not used keep the logical AND connec...

Page 58: ...D connected to up to eight Advanced Units 3 Two logical AND outputs from an Advanced Unit G9SX ADA can be logical AND connected to up to eight Advanced Units 4 Any Advanced Unit with logical AND input can be logical AND connected to Advanced Units on up to five tiers G9SX AD G9SX AD G9SX AD G9SX AD G9SX AD G9SX BC G9SX AD G9SX AD G9SX AD G9SX AD G9SX AD G9SX AD G9SX AD G9SX AD G9SX AD G9SX AD G9SX...

Page 59: ...ced with G9SX NS NSA GS G9SX BC G9SX BC G9SX ADA Number of Units connected per logical AND output 4 Units max Total number of Units connected by logical AND 20 Units max Number of Units connected in series by logical AND 5 Units max Note 1 Basic Unit G9SX BC Advanced Unit G9SX AD or G9SX ADA Note 2 The G9SX AD322 T has only one logical AND output Advanced Unit or Basic Unit Advanced Unit Advanced ...

Page 60: ...on input Max response time excluding Expansion Units See note 1 Max operating time excluding Expansion Units See note 2 Safety input 15 ms 50 ms Logical AND connection input 15 ms 100 ms Non contact Door Switch input D40A Logical AND connection input Max response time excluding Expansion Units See note 1 Max operating time excluding Expansion Units See note 2 Non contact Door Switch input 20 ms 10...

Page 61: ...e excluding Expansion Units See note 2 Safety input A 15 ms See note 3 50 ms Safety input B 15 ms See note 3 50 ms Logical AND connection input 15 ms 100 ms D40A Safety Output 2 Safety Output 3 Logical AND Connection 2 Logical AND Connection 1 Safety Input D4NS 1 Safety Input D4NS 2 Safety Output 1 Safety Input A22E Case 1 Response Time from When A22E Turns OFF until Safety Output 2 Turns OFF Case...

Page 62: ...gnal to terminal T33 must be ON for the safety output to turn ON If terminal T33 is not ON the safety output will not turn ON Manual reset mode The signal to terminal T32 must turn ON and then OFF for the safety output to turn ON If terminal T32 does not turn ON and then OFF the safety output will not turn ON 24 V KM1 KM2 KM3 KM4 KM5 T33 T32 T31 Feedback Loop KM1 KM2 KM3 KM4 KM5 T33 T32 T31 Feedba...

Page 63: ... refer to the following description 1 Cross Fault between T11 T12 and T21 T22 Cross fault detection mode Cross fault detection input ON Open OFF Connect to 24 V Cross fault detection input Safety input to be monitored Function summary Terminal Y1 Terminals T11 T12 and T21 T22 Detects cross faults across T11 T12 and T21 T22 Terminal Y2 Terminals T61 T62 and T71 T72 Detect cross faults in T61 T62 an...

Page 64: ...the G9SX the Y1 terminal must be connected to 24 VDC The G9SX will detect a connection error if the Y1 terminal is open 2 In many cases safety sensor outputs include an OFF shot pulse for self diagnosis The following condition of test pulse is applicable as safety inputs for the G9SX OFF shot pulse width of the sensor during the ON state 340 μs max 340 µs max ...

Page 65: ...conds the output function as an instantaneous safety output Refer to the following illustration for details on setting switch positions 1 G9SX AD322 T15 2 G9SX AD322 T150 Front Back Switch Switch OFF DELAY 0 5 0 4 0 3 0 2 15 10 7 5 4 3 2 1 5 1 0 6 0 7 0 OFF DELAY 0 5 0 4 0 3 0 2 15 10 7 5 4 3 2 1 5 1 0 6 0 7 0 Notch Example 2 1 second OFF delay setting Example 1 0 second OFF delay setting 40 30 20...

Page 66: ... D3 and D4 terminals of the G9SX NS Blue Non contact Door Switch input White Inputs signals from the G9SX NS The Non contact Door Switch input must be ON as a required condition for the Non contact Door Switch output to be ON Non contact Door Switch output Black Turns ON and OFF according to actuator detection and the status of the Non contact Door Switch input Auxiliary output Yellow Turns ON whe...

Page 67: ...t the switch to Auto for auto switching and Manual for manual switching For manual switching connect the mode selector as shown in the following table Switching Mode Switching Function setting switch Mode selector connection Auto switching Manual switching M1 ON M2 OFF Normal operating mode M1 OFF M2 ON Maintenance mode Manual Auto M2 M1 NC NC Manual Auto M2 M1 24V Maintenance mode Normal operatin...

Page 68: ... indicator connected to external indicator output UA connect Y3 to 24 V If there is no indicator connected to external indicator output UB connect Y4 to 24 V If they are not connected to 24 V the G9SX GS will detect an error 2 Diagnostic checks cannot be made for LED indicators Disable the diagnostic check if using LED indicators Externalindicator output Diagnostic check enabled Diagnostic check d...

Page 69: ... Units can be connected to one Advanced Unit This may be a combination of G9SX EX Instantaneous types and G9SX EX T OFF delayed types Remove the end connector from the Unit G9SX AD G9SX ADA G9SX NSA or G9SX GS and insert the connector on the Connecting Cable from the first Expansion Unit Place the end connector that was removed from the Unit on the last Expansion Unit i e the rightmost Expansion U...

Page 70: ...VDC Not lit Auto reset mode T32 24 VDC AND AND1 AND2 LogicalANDconnection input mode See note Logical AND connection preset switch Lit Enable logical AND input AND Not lit Disable logical AND input OFF Indicator Item Setting position Indicator status Setting mode Setting status T1 Cross fault detection mode for safety input A Y1 terminal Lit Enabled Y1 open Not lit Disabled Y1 24 VDC T6 Cross faul...

Page 71: ...3 Safety Guard Switching Unit 74 1 4 Expansion Unit 75 2 Characteristics 76 2 1 Advanced Unit Basic Unit 76 2 2 Non contact Door Switch Controller 77 2 3 Safety Guard Switching Unit 78 2 4 Expansion Unit 79 3 Dimensions and Terminal arrangements 80 3 1 Advanced Unit 80 3 2 Basic Unit 80 3 3 Non contact Door Switch Controller 81 3 4 Safety Guard Switching Unit 81 3 5 Expansion Unit 82 ...

Page 72: ...A222 G9SX BC202 0 4 A DC max load current Item Model G9SX AD322 ADA222 G9SX BC202 Rated supply voltage 24 VDC Operating voltage range 15 to 10 of rated supply voltage Rated power consumption See note 4 W max 3 W max Item Model G9SX AD322 ADA222 G9SX BC202 Safety input Operating voltage 20 4 VDC to 26 4 VDC internal impedance approx 2 8 kΩ See note Feedback reset input Item Model G9SX AD322 ADA222 ...

Page 73: ...ollowing derating is required when Units are mounted side by side G9SX NS202 G9SX NSA222 T03 0 4 A DC max load current 3 Apply the following rated load conditions for inductive loads IEC EN 60947 5 1 DC13 0 8 A UL508 Pilot Duty 0 5 A Item Model G9SX NS202 G9SX NSA222 T03 Rated supply voltage 24 VDC Operating voltage range 15 to 10 of rated supply voltage Rated power consumption See note 3 W max 4 ...

Page 74: ...g rated load conditions for inductive loads IEC EN 60947 5 1 DC13 0 8 A UL508 Pilot Duty 0 5 A Item Model G9SX GS226 T15 Rated supply voltage 24 VDC Operating voltage range 15 to 10 of rated supply voltage Rated power consumption See note 5 W max Item Model G9SX GS226 T15 Safety inputs Operating voltage 20 4 VDC to 26 4 VDC Internal impedance Approx 2 8 kΩ See note Mode selector input Feedback res...

Page 75: ...umption of loads not included Outputs Item Model G9SX EX Rated supply voltage 24 VDC Operating voltage range 15 to 10 of rated supply voltage Rated power consumption See note 2 W max Item Model G9SX EX Rated load 250 VAC 3 A 30 VDC 3 A resistive load Rated carry current 3 A Maximum switching voltage 250 VAC 125 VDC ...

Page 76: ... OFF state leakage current 0 1 mA max safety output auxiliary output Maximum wiring length of safety input and logical AND input 100 m max External connection impedance 100 Ω max and 10 nF max Reset input time Reset button pressing time 100 ms min Accuracy of OFF delay time Within 5 of the set value Insulation resistance Between logical AND connection terminals and power supply input terminals and...

Page 77: ...max Logical AND connection input OFF 20 ms max Non contact Door Switch input OFF See note 4 15 ms max Safety input OFF and logical AND connection input OFF 20 ms max Non contact Door Switch input OFF See note 4 ON state residual voltage 3 0 V max safety output auxiliary output OFF state leakage current 0 1 mA max safety output auxiliary output Maximum wiring length of safety input logical AND conn...

Page 78: ... residual voltage 3 0 V max for safety outputs auxiliary outputs and external indicator outputs OFF state leakage current 0 1 mA max for safety outputs and auxiliary outputs 1 mA max for external indicator outputs Maximum wiring length of safety input and logical AND input 100 m max External connection impedance 100 Ω max and 10 nF max Reset input time Reset button pressing time 100 ms min Accurac...

Page 79: ... max for safety outputs and auxiliary outputs Maximum wiring length of safety input and logical AND input 100 m max External connection impedance 100 Ω max and 10 nF max Reset input time Reset button pressing time 100 ms min Accuracy of OFF delay time See note 3 Within 5 of the set value Insulation resistance Between all terminals connected together and DIN rail 100 MΩ min at 500 VDC Dielectric st...

Page 80: ...arrangement No OFF DELAY 0 5 0 4 0 3 0 2 15 10 7 5 4 3 2 1 5 1 0 6 0 7 0 L1 S54 S44 S24 S14 L2 A2 T42 T41 T22 T21 A1 X2 X1 Y1 T12 T11 T33 T31 T1 ERR EI AND1 FB ED T2 PWR T32 T52 T51 G9SX ADA222 T150 24VDC AND2 6 See note 2 100 max 6 See note 2 115 max 10 Typical dimension 35 5 max 35 AND1 AND2 G9SX ADA222 T150 FB PWR T1 AND1 EI T2 AND2 ED ERR S54 T41 S14 T21 S24 T22 S44 L1 T42 L2 A2 T33 T32 T31 X1...

Page 81: ...0 4 0 3 0 2 3 0 2 5 2 0 1 8 1 4 1 2 1 0 0 9 0 8 0 6 0 7 0 35 5 max 35 Typical dimension 10 115 max 6 See note 2 100 max 6 See note 2 FB PWR T1 AND EI T2 NS ED ERR S54 T41 S14 T21 S24 T22 S44 L1 T42 D4 A2 T33 T32 T31 X1 Y1 T12 T11 X2 A1 D1 D2 D3 Terminal arrangement Note 1 Above outline drawing is for RC terminal type 2 For RC terminal type only T31 T32 T33 T11 Y1 M1 M2 T12 T61 T62 Y2 Y3 T21 T22 X1...

Page 82: ...yed Model G9SX EX041 T G9SX EX041 T 23 max 22 5 Typical dimension 115 max 6 See note 2 100 max 6 See note 2 43 33 23 13 PWR 44 A2 14 24 A1 34 X2 EI ERR 43 33 23 13 PWR 44 A2 14 24 A1 34 X2 ED ERR G9SX EX041 T Expansion Unit with OFF Delay G9SX EX401 Expansion Unit Note 1 Above outline drawing is for RC terminal type 2 For RC terminal type only Terminal arrangement ...

Page 83: ...G9SX USER S GUIDE 83 Appendix Appendix 1 Troubleshooting 84 2 Logical AND Connections 91 3 Accessories and Related Products 93 ...

Page 84: ...and T22 3 Short circuit between safety inputs when cross fault detection mode is ON 3 Check the wiring to T11 T12 T21 and T22 63 4 Failure in internal circuit for T21 and T22 4 Replace the G9SX FB blinks Fault involved with feedback reset inputs 1 Incorrect feedback reset input wiring 1 Check the wiring to T31 T32 and T33 62 Fault in Expansion Unit 2 Connecting cable to Expansion Unit or terminati...

Page 85: ...d 1 Check the wiring to T41 and T51 2 Maximum cable length exceeded 2 Make sure that the wiring length for the T41 T42 T51 and T52 terminals is less than 100 m 3 Maximum number of connected Units exceeded 3 Check the logical AND connection for the G9SX 59 Incorrect setting for logical AND connection setting switch 4 The logical AND connection preset switch is set to OFF 4 When using a logical AND ...

Page 86: ... Check the wiring to D1 and D2 66 2 Incorrect wiring of Non contact Door Switch inputs in series connection 2 Check the wiring to the D40A 66 Failure in internal circuit 3 Non contact Door Switch failed 3 Replace the D40A 4 Failure in internal circuit for D1 and D2 4 Replace the G9SX FB blinks Fault involved with feedback reset inputs 1 Incorrect feedback reset input wiring 1 Check the wiring to T...

Page 87: ...ircuited 1 Check the wiring to T41 2 Maximum cable length exceeded 2 Make sure that the wiring length for the T41 and T42 terminals is less than 100 m 3 Maximum number of connected Units exceeded 3 Check the logical AND connection for the G9SX 59 Incorrect setting for logical AND connection setting switch 4 The logical AND connection preset switch is set to OFF 4 When using a logical AND connectio...

Page 88: ...ty input B channel 1 For example cross fault detection mode settings and safety input wiring do not match 1 Check the wiring to T61 T62 T71 T72 and Y2 63 2 Wiring to safety input B channel 1 and 24 V or another I O terminal short circuited 2 Check the wiring to T61 and T62 3 Short circuit between safety inputs when cross fault detection mode is ON 3 Check the wiring to T61 T62 T71 and T72 63 4 Fai...

Page 89: ...ck the ambient temperature and spacing around the G9SX 78 Failure in internal circuit 5 Failure in internal circuit for S44 and S54 5 Replace the G9SX 6 OFF delay time preset switch failed 6 Replace the G9SX AND blinks Fault involved with logical AND connection input 1 Logical AND connection input and 24 V 0 V or another I O terminal short circuited 1 Check the wiring to T41 2 Maximum cable length...

Page 90: ...switching time 3 Check the mode selector input switching time 78 4 Mode selector failed 4 Replace mode switch Failure in internal circuit 5 Internal circuit of the mode selector input failed 5 Replace the G9SX Allindicators except PWR blink Supply voltage outside the rated value 1 Supply voltage outside the rated value 1 Connect to a supply voltage of 24 VDC 15 to 10 2 Voltage fluctuation caused b...

Page 91: ...are also used to detect faults in the connection and short circuits For this reason up to safety category 4 can be achieved without redundant logical AND connection signal lines Insulation The logical AND connection input section of the G9SX is insulated Therefore even when the G9SX logical AND connection cable is configured across multiple devices it is not necessary to use a shared power source ...

Page 92: ... turned ON when safety input 1 and safety input 2 are simultaneously input Previous Circuit with Relay Units Safety Circuit with G9SX Motor controller M KM1 KM2 1 Internal circuit Internal circuit Safety Input 1 Safety Input 2 Unit 1 Unit 2 Feedback Input Feedback Input Robot Motor controller M KM1 KM2 Logical AND connection Internal circuit Internal circuit Safety Input 1 Unit 1 Unit 2 Feedback I...

Page 93: ...ls with 3 contacts DPST NC SPST NO and TPST NC models in addition to the previous DPST NC SPST NO and DPST NC models Models with M12 connectors are available to save labor and simplify replacement work Standard feature gold clad contacts provide high contact reliability Can be used with both standard loads and microloads 4 Compact Guard Lock Safety Door Switch D4NL Built in switches with four or f...

Page 94: ... mounting or dismounting of the Switch Unit from the Operational Unit using a lever provided Not only round or forked crimp terminals but also solid wires can be connected to the Switch Safety lock mechanism provided for the first time for 22 dia models Applicable to 22 3 dia or 25 dia panel cutouts IP65 degree of protection However also use A22Z R25 for 25 dia cutout Employs a three tier terminal...

Page 95: ...G9SX USER S GUIDE 95 Precautions Precautions ...

Page 96: ...f safety functions Construct an appropriate safety system as shown in the following table Switching function Auto switching Safety system configuration example Safety precautions 1 Select Safety Sensors that satisfy the following condition 1 Diameter of the smallest detectable object Diameter of the object to be detected 2 Install the Safety Sensors so that they satisfy the following conditions 1 ...

Page 97: ...ld be qualified and authorized to secure the safety on each phases of design installation running maintenance and disposal of system 8 A person in charge who is familiar to the machine in which G9SX is to be installed should conduct and verify the installation 9 Perform daily and 6 month inspections on the G9SX Otherwise the system may fail to work properly resulting in serious injury 10 Do not di...

Page 98: ...nnector of the Expansion Unit into the G9SX to connect it 2 Insert the termination connector into the last Expansion Unit as viewed from the G9SX When the G9SX is used without any Expansion Units do not remove the termination connector from the G9SX 3 Do not remove the termination connector while the system is operating 4 Before applying the power supply voltage confirm that the connecting sockets...

Page 99: ...er and guide to prevent the D40A Non contact Door Switch from being subjected to impact 8 Do not use the switch or actuator as a stopper Protect the switch and the actuator by installing a stopper Separate the switch and the actuator to a distance of 1 mm or more 9 Install the actuator and switch at an appropriate distance so that they do not create a gap that provides access to the hazard 10 Wher...

Page 100: ... using Limit Switches at least one of them must have Direct Opening Mechanism 3 When connecting Safety sensor with G9SX use TYPE 4 safety sensor 4 Input the signal through a NC contact of the contactor to Feedback Reset input T31 T32 for manual reset or T31 T33 for auto reset Refer to Application Examples 5 Keep Cross fault detection mode input Y1 and Y2 open However when connecting devices with s...

Page 101: ...MEMO G9SX USER S GUIDE 101 ...

Page 102: ...MEMO 102 G9SX USER S GUIDE ...

Page 103: ...ions or uses not described in this document Nuclear energy control systems combustion systems railroad systems aviation systems medical equipment amusement machines vehicles safety equipment and installations subject to separate industry or government regulations Systems machines and equipment that could present a risk to life or property Please know and observe all prohibitions of use applicable ...

Page 104: ...N EUROPE B V Wegalaan 67 69 NL 2132 JD Hoofddorp The Netherlands Tel 31 2356 81 300 Fax 31 2356 81 388 OMRON ASIA PACIFIC PTE LTD No 438A Alexandra Road 05 05 08 Lobby 2 Alexandra Technopark Singapore 119967 Tel 65 6835 3011 Fax 65 6835 2711 OMRON CHINA CO LTD Room 2211 Bank of China Tower 200 Yin Cheng Zhong Road Pu Dong New Area Shanghai 200120 China Tel 86 21 5037 2222 Fax 86 21 5037 2200 OMRON...

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