Safety I/O Specifications
OM1305066E26
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6. Safety I/O Specifications
6.1 I/O for safety circuit
Dual circuit is applied to the safety circuit in order to ensure
safety.
Use the safety I/O of the safety card of the controller.
Please observe the specifications of the safety I/O as
follows.
Note
Make sure to wire the emergency stop input cable carefully
so as to minimize the resistance value of the emergency
stop input cable path.
If the resistance of the path becomes 10
or more due to
poor connection or other reasons, an emergency stop
alarm may go off for no reason or an alarm may not be able
to reset.
6.1.1 Spare emergency stop input
An emergency stop input terminal provided as the most
significant level of safety circuit. Apply it when an
emergency stop input from an external device is so
connected that the output of which takes first priority over
all other emergency stop push-button switches on the
teach pendant.
Use one normally closed 2-contact switch.
• Connect one set of contacts between “” and
“SPEMG1-”, and the other set between “” and
“SPEMG2-”.
• If this input terminal is not to be used, short terminals
between “” and “SPEMG1-”, and also
“” and “SPEMG2-” without fail. (They are fac-
tory shorted at shipment.)
CAUTION
The product is delivered in emergency stop state. (Open Installation input)
Confirm total safety of robot system and then short-circuit the external emergency stop input
after the completion of the installation and start-up of the system.
CAUTION
About safety circuit
• Apply an independent normally-closed contact and do not connect in parallel.
• In order to avoid malfunction due to contact fusion, apply a contact whose capacity is 5 A or more and
the minimum applicable load is 50 mA, 24 VDC.
Use components for an external safety device that com-
plies with the standard.
Safety Device
B10d
Compatible standard
Emergency stop
switch
100 000
IEC60947-5-1;Annex K
IEC60947-5-5
Enable switch
100 000
IEC60947-5-8
Door switch
100 000
IEC60947-5-1;Annex K
Spare emergency stop input
External emergency stop input
Door stop input
Safety holder input
