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Note1) The level indicates the signal level.
L: Level signal → The designated function is validated when the signal is ON, and is invalidated when the sig -
E: Edge signal → The designated function is validated when the signal changes from the OFF to ON state, and
Note2) Four elements are set in the order of input signal start No., end No., output signal start No. and end No.
Note3) Up to eight points can be set successively in order of start output signal No. and end output signal No.
3.6 Emergency stop input and output etc.
Do wiring of the external emergency stop, the special stop input, the door switch, and the enabling device from
the "special input/output" terminal connector.
Table 3-3 ： Special input/output terminal
Item
Name
Input
Emergency stop
Input
Special stop input
Input
Door switch
Input
Enabling device
Output
Robot error output
Output
Mode output
Output
Magnet contactor control
connector output for addi -
tion axes
*At the time of the power supply OFF, the output point of contact is always open.
[Note] The contact capacity of each input/output terminal is DC24V/10mA - 500mA. Don't connect the
equipment except for this range. The use exceeding contact capacity causes failure.
Pin number assignment of each terminal and the circuit diagram are shown in
3.6.1 Connection of the external emergency stop
The external emergency stop input and door switch input and enabling device input are opened at shipment as
shown in
Fig.
3-9.
Connect the external emergency stop switch and door switch with the following procedure.
[Caution] Since the emergency stop, the enabling device, and the door switch circuits are made dual circuits
inside the controller, all the emergency stop switches should use dual contact type. Remove the contact
capacity sticker stuck on the connector (EMGIN, EMGOUT, SKIP) and connect the emergency switch.
1) Prepare the "emergency stop switch", "enabling device" and "door switch".
2) Securely connect the external emergency stop's contacts across 3A-4A, 3B-4B, and the door switch's con -
tacts across 8A-9A, 8B-9B, and the enabling device switch's contacts across 10A-11A, 10B-11B, on the ter -
minal block.
[Caution] When wiring the emergency stop switch (double emergency line type) and SKIP input signal, wire both
contacts to the two terminal blocks on the controller. If both contacts are wired to only one of the ter -
minal blocks, errors cannot be cancelled using the door switch. The cable uses the shielded cable and
installs the ferrite core. Install the ferrite core in less than 30cm from the contact button.
CAUTION
CAUTION
nal is OFF.
the function maintains the original state even when the signal then turns OFF.
Applies the emergency stop. Dual emergency line
Applies the stop. （Refer to
Servo-off. Dual line, normal close
Servo-off. Dual line, normal close
Contactor is opening during error occurrence
MANUAL mode: contactor is opening, AUTO mode: contactor is closing.
When an additional axis is used, the servo ON/OFF status of the additional axis can be synchronized
with the robot arm.
(Page 55, "3.8 Magnet contactor control connector output (AXMC) for addition
axes")
You should always connect doubly connection of the emergency stop, the door switch,
and the enabling switch. (Connect with both of side-A and side-B of the controller rear
connector) In connection of only one side, if the relay of customer use should break
down, it may not function correctly.
Please be sure to check that each function operates normally for the prevention of
malfunction. Surely check that the operation of the emergency stop of the robot
controller, the emergency stop of the teaching pendant, the customer's emergency
stop, etc are normally.
Function
Page 47, "3.6.2 Special stop
input(SKIP)"）
(Page 49, "3.6.3 Door switch
(Page 49, "3.6.4 Enabling device
Fig. 3-9.
Emergency stop input and output etc. 3-44
3 Controller
function")
function")
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