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3. Coordinated operation of worker and machine
G9SX
USER'S GUIDE
27
A
p
plica
tion Examples
Section
1
■
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)
Содержание G9SX Series
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