ABB IRB 6400R - Connection of Safety Chains

Connecting Signals Installation and Commissioning
48 Product Manual IRB 6400R
3.9 Connection of safety chains
Figure 38 Diagram showing the two-channel safety chain.
Man1
Auto1
Man2
Auto2
X1:4
X3:10
X2:4
X4:10
X1:5
X2:5
X3:7
*
9
3
11
8
6
6
9
11
8
3
Ext LIM2
External contactors
Ext LIM1
GS1
AS1
TPU En1
ES1
Opto
isol.
Opto
isol.
&
EN
RUN
Inter-
locking
K1
K2
K1
0 V
K2
M
Drive unit
AS2
GS2
ES2
TPU En2
&
24 V *
see 3.9.1
see 3.9.1
Opto
isol.
Opto
isol.
24 V
24 V
CONT1
CONT2
*)
Supply from internal 24V (X3/X4:12) and 0 V (X3/
X4:7) is displayed.
When external supply of GS and AS, X3/X4:10,11 is
connected to 24 V and X3/X4:8,9 is connected to
external 0 V
X1-X4 connection tables, see section 3.10.
24V
X4:7
0 V
+
+
-
-
0 V
0 V
+
+
-
-
X3:12
X4:12
Technical data per chain
Limit switch: load
max. V drop
300 mA
1 V
External contactors: load
max. V drop
10 mA
4 V
GS/AS load at 24V 25 mA
GS/AS closed “1” > 18 V
GS/AS open “0” < 5 V
External supply of GS/AS max. +35VDC
min. -35VDC
Max. potential relative to
the cabinet earthing and
other group of signals
300 V
Signal class control signals