5 Electrical connections
5.4.1 The MOTORS ON/MOTORS OFF circuit
90 A 3HAC 16245-1
Section 5.4: Customer connections on controller
5.4.1 The MOTORS ON/MOTORS OFF circuit
Outline diagram The MOTORS ON/MOTORS OFF circuit is made up of two identical chains of switches.
The diagram shows the available customer connections, AS, GS and ES.
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Function of the
MOTORS ON/
MOTORS OFF
circuit
The circuit monitors all safety related equipment and switches. If any of the switches is
opened, the MOTORS ON/MOTORS OFF circuit switches the power to the motors off.
As long as the two chains are not identical, the robot will remain in MOTORS OFF mode.
A ES (emergency stop)
B LS (Limit switch)
C Solid state switches
D Contactor
E Mains
F Drive unit
G Second chain interlock
H GS (general mode safeguarded space stop)
J AS (Automatic mode safeguarded space stop)
K ED (TPU enabling device)
L Manual mode
M Motor
N Automatic mode
P Operating mode selector
R RUN
S EN1
T EN2
G
C
D
E
A
F
T
L
N
P
M
H
J
K
B
RS
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