Safety I/O Specifications
OM1305066E26
33
6.1.4 Protective stop 1 input
If the terminal is opened, driving force for all robot axes is
stopped in terms of hardware, which stops all operation
parts at once.
If the terminal is short-circuited, the safety circuit goes into
the ready-to-operate state in terms of hardware.
As for other emergency stops, even if the terminal is short-
circuited, the safety circuit remains functioning in terms of
hardware unless servo is turned on. This is what make this
terminal different from other emergency stops.
6.1.5 Protective stop 2 input
Movements are almost the same as that of Protective Stop
1. This terminal is used to receive the emergency stop out-
put from its cooperative counterpart in multi-cooperative
robot control.
6.1.6 External enabling input
• An input terminal used to make the enabling function
effective from an external input.
• Servo power is turned ON when both the enabling switch
on the teach pendant and the external enabling input are
ON.
Uses one normally open 2-contact switch.
• In case that the external enabling input is not used, set
the terminals in the following state:
Short-circuit the terminals “” and “EXTD-
ED1-”, and terminals “EXTDED 2+” and “EXTDED 2-”.
(They are factory shorted at shipment.)
Protective stop1 input
Protective stop2 input
External enabling input
Installation input
