Omron R6YXC1000, Руководство пользователя, Страница: 104 / 260

5
SAFETY I/O interf
ace
5-2
1.3 Connection example combining the programming box with
external emergency stop circuit
CAUTION
• Construct an external emergency stop circuit so that the emergency stop function of the overall system
including the controller operates securely.
• "E-STOPRDY*" needs a relay or photocoupler drive current of 45 mA or more.
1.3.1 Connection example of controller with CE specifications and PBEX
Internal power GND
17
19
18
ENABLE11
ENABLE12
ENABLE21
PBEX
13
14
15
16
E-STOP11 13
14
15
16
E-STOP12
E-STOP21
E-STOP22
E-STOP11
17
19
18 ENABLE1-
20 ENABLE22 20 ENABLE2-
E-STOP1+
E-STOP2+
E-STOP21
E-STOP2-
E-STOP1-
E-STOP12
E-STOP22
N
L
AUTO1+
AUTO COM1
AUTO2+
AUTO COM2
22
21
23
22
23
21
A1
A2
B2
A7
B1
B7
B10
B9
A10
A9
A8
B8
B5
B6
A6
A5
A3
B3
A4
B4
A11
B11
A12
B12
T2
T3
IN4
IN5
O2
O3
IN6
IN7
SAFETY
CONTROLLER
N
L
100mA*2
O1
IN10
T0
O0
IN8
IN9
DOOR
O5
O4
AUTO MODE
SWITCH
ACIN
PB
OFF ON
V
G
T2
T3
IN0
IN1
IN2
IN3
EXTERNAL
E-STOP
IN12
IN13
SAFETY
MP RDY2+
MP RDY2-
E-STOP RDY1
E-STOP RDY2
E-STOP COM2
E-STOP COM1
External power
+24V
Internal power
+24V
Main power on/off control
To main
power circuit Controller
CE specifications
Internal power +24V
Emergency stop
status detection
Internal power GND
Manual lock switch
status detection
AUTO mode
change detection
Motor power ready output
Emergency
stop
Enable
Manual lock
■
Operation description
• This example does not use the internal power for the emergency stop. Use the external power and do not connect
"E-STOP*+" and "E-STOP*-".
• The safety controller monitors the emergency stop and enable switch status of two systems. If any contact is open, the
main power is shut down by the external contactor to put the robot in the emergency stop status.
• The safety controller operates the external main power according to the safety protection door open/close status, AUTO
mode switch, and MP RDY* signal status of two systems. Additionally, the safety controller judges "E-STOP RDY*" and
"AUTO*+" and outputs this judgment signal to the controller.
• To restart the external main power of the controller, it is necessary to input RESET to the safety controller.
• When the programming box and SAFETY connector are removed, the controller enters the emergency stop status.
• The following PB connector pins of the PB terminator supplied with the controller are short-circuited and the automatic
operation is ready to start.
PB connector
13 pin - 14 pin
15 pin - 16 pin
17 pin - 18 pin
19 pin - 20 pin
21 pin - 22 pin
* For details about the CE specifications, refer to the "Safety standards application guide".