CONTENTS Page
1 SAFETY 1:1
2 ENVIRONMENTAL REQUIREMENTS 2:1
3 CONNECTION OF SIGNALS 3:1
3.1 Signal classes 3:1
3.1.1 Cable selection
3.1.2 Routing
3.1.3 Interference suppression
3.2 Terminal connections 3:3
3.2.1 Connection to connectors
3.2.2.1 Connection to screw terminals (option)
3.2.2.2 Internal connectors (option)
3.2.3 Connection to terminal cables (option)
3.3 Connection, control cabinet - robot 3:6
3.4 MOTOR ON/MOTOR OFF circuit 3:7
3.4.1 Connection diagram
3.4.2 Connection tables MOTOR ON/ MOTOR OFF operating circuits.
3.4.3 Technical data MOTOR ON/OFF operating circuits
3.4.4 Connection tables external signals
3.4.5 Technical data, external signals
3.4.6 External safety relay
3.5 Safety stopsignals 3:12
3.5.1 Category 1 safety stop
3.6 Voltage supply to electronics 3:13
3.6.1 24 V I/O
3.6.2 External supply
3.8 Connection of user equipment to the robot (option) 3:14
3.8.1 IRB2000
3.8.2 IRB3000
3.8.3 IRB3200
3.8.4 IRB6000
3.9 Sensors interface 3:19
3.9.1 General
3.9.2 Connection of digital sensors
3.9.3 Connection of analog sensors
3.10 I/O (option) 3:22
3.10.1 Digital I/O
3.10.2 Technical data for each group of 8 channels
3.10.3 Numbering of digital I/O
3.10.4 System I/O
3.10.5 ESABI/O
3.10.6 Panel-I/O
3.10.7 Error outputs
3.10.8 System ports
3.10.9 Remote I/O (RIO)
INSTALLATION
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