Electrical
Troubleshooting Guide
IRB6400 M94A
Page 6 - 4
Emergency Stop Circuitry
6.2 Emergency Stop - Run Chain 1
While trouble shooting this circuit, hold the enable
device in or turn the mode select switch to AUTO mode.
For Run Chain 1:
- The emergency stop circuit starts with 24 VDC at
XS3/XT3 terminal A7.
If 24 VDC is not at XS3/XT3 terminal A7, then refer to
Chapter 5 - Motors ON.
Between XS3/XT3 terminals A7 and A8 is the first place
that the customer can connect series circuits to cause
the robot to go into an emergency stop condition when
the circuit is open.
If the customer is not using a customer connected
Emergency Stop, then a jumper is placed between
XS3/XT3 terminals A7 and A8.
- 24 VDC then goes through XS3/XT3 terminal A8 to
the back plane X35 pin 1.
- Past a noise reduction capacitor C2, out the back
plane X34 pin 4 to the Control Panel Emergency
Stop push button terminal 12.
If the Emergency Stop button on the Control Panel is
pulled OUT:
- 24 VDC will go out terminal 11.
- To the back plane X34 pin 23.
- Out the back plane X32 pin 1.
- To XS/XP 20 pin “K”. (XS/XP20 is the connector to
the teach pendant.)
- XS/XP 20 pin “K” goes through the Emergency
Stop button on the teach pendant back to the XS/
XP20 pin “L”.
- To the back plane X32 pin 9.
- Past a noise reducing capacitor (C4) to X35 pin 3.
- Then to XS3/XT3 terminal A9.
Sheet 8, line 08 ............
Fig. 6-5 ............
Sheet 8, line 06 ............
Fig. 6-2,3 .........
Fig. 6-4 ............
Sheet 8, line 02 ............
Fig. 6-2,3 .........
Fig. 6-1 ............
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