Safety I/O Specifications
OM1305066E26
36
Short connectors and emergency stop
The following show the relationships between emergency
stop input type and emergency stop output when each
connector is shorted.
Note
OUTMD3 is factory short-circuited at shipment.
(*1)
It is available only if an operation box (optional) is connected.
(*2)
As for enabling switch, the input is valid only when the mode select switch is in TEACH position.
(*3)
As for Door stop switch, the input is valid only when the mode select switch is in AUTO position.
< Safety card >
OUTMD0
OUTMD1
OUTMD2
OUTMD3
OUTMD4
OUTMD5
OUTMD6
Emergency stop output
“Emergency stop output” and
“Reserved emergency stop output”
“Emergency stop output
for application” and
“Reserved emergency
stop output for
application”
Shorted connector
OUTMD0 OUTMD1 OUTMD2 OUTMD3 OUTMD4 OUTMD5 OUTMD6
Not related
(1)
Spare emergency stop
input
C
C
C
A
A
A
A
A
(2)
Panel emergency stop
input
(*1)
C
C
C
A
A
A
B
A
(3)
Teach pendant
emergency stop input
C
C
C
A
A
A
B
A
(4)
Teach pendant
enabling switch
(*2)
C
C
C
A
A
B
B
A
(5)
External enabling input
(*2)
C
C
C
A
A
B
B
A
(6)
Door stop input
(*3)
C
C
C
A
A
B
B
A
(7)
Overrun input
C
C
C
A
A
B
B
A
(8)
External emergency stop
input
C
C
C
A
B
B
B
A
(9)
Protective stop 1 input
E
E
E
B
B
B
B
B
(10)
Emergency stop of its
cooperative counterparts in
multi-cooperative robot
control.
E
E
B
B
B
B
B
B
(11) Protective stop 2 input
E
B
B
B
B
B
B
B
(12) In alarm condition
D
D
D
D
D
D
D
D
A
The emergency stop output terminal goes open when the emergency stop input is input.
The emergency stop output terminal is closed when the emergency stop input is released.
(In case the mode select switch is in TEACH mode, the emergency stop output terminal stays open state when the
enabling switch input is turned on.)
B
The emergency stop output terminal stays closed regardless of the state of the emergency stop input.
C
The emergency stop output terminal goes open when the emergency stop input is input.
The emergency stop output terminal is closed when the emergency stop input is released and the servo power is turned
on.
D
Input to open the emergency stop output terminal. It remains in open state until the power at the controller is turned off.
E
When the main power is turned on, the emergency stop output terminal goes into the output status of “C”.
Then, when the servo power is turned on, the output teminal goes into the output status of “A”.
If one of the following (1) to (8) inputs is turned on, the output terminal goes back into the output status of “C”.
Subsequently, if the servo power is turned on, the output terminal goes into the output status of “A”.
