ABB IRC5 Compact Product Manual page 81

U
Function of the MOTORS ON/MOTORS OFF circuit
The circuit monitors all safety related equipment and switches. If any of the switches
are opened, the MOTORS ON/MOTORS OFF circuit switches the power to Motors
Off.
As long as the two chains not are in an identical state, the robot will remain in
MOTORS OFF mode.
Connection of safety chains
The diagram below shows the dual channel safety chain.
The supply from internal 24V and 0 V is displayed. For external supply of GS and
AS check the circuit diagram.
xx1600000281
Technical data per chain
Limit switch
Product manual - IRC5 Compact
3HAC047138-001 Revision: G
SS (Input from, for example, SafeMove board)
X15.4
Opto
SS1
isol.
X15.2
Opto
GS1
isol.
Opto
AS1
isol.
X15.5
Opto
SS2
isol.
X15.3
GS2
AS2
Load: 300 mV
Max. voltage drop: 1 V
© Copyright 2009-2017 ABB. All rights reserved.
2 Installation and commissioning
2.6.8 The MOTORS ON/MOTORS OFF circuit
Terminal
X5
X15
Continues on next page
Continued
Location
A21
A21
81