Electrical
Troubleshooting Guide
IRB6400 M94A
Page 6 - 6
Emergency Stop Circuitry
6.3 Emergency Stop - Run Chain 2
While trouble shooting this circuit, hold the enable
device in or turn the mode select switch to AUTO mode.
Remember also that you are tracing 0 VDC. So put the
RED meter lead on a known 24 VDC source (XS3/XT3
terminal A16) and make checks with the BLACK meter
lead. A reading of 24 VDC on the meter indicates that
the circuit is OK.
For Run Chain 2:
- Start with 0 VDC at XS3/XT3 pin B7.
Between XS3/XT3 terminals B7 and B8 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 connection between XS3/XT3
terminals B7 and B8 is necessary (just like Run Chain
1 with A7 and A8).
- 0 VDC then goes through XS3/XT3 terminal B8 to
the back plane X35 pin 2.
- Past a noise reduction capacitor C1, out the back
plane X34 pin 3 to the Control Panel Emergency
Stop push button terminal 21.
If the Emergency Stop button on the Control Panel is
pulled OUT:
- 0 VDC will go out terminal 22.
- To the back plane X34 pin 22.
- Out the back plane X32 pin 4.
- To XS/XP 20 pin “H”. (XS/XP20 is the connector to
the teach pendant.)
- XS/XP 20 pin “H” goes through the Emergency
Stop button on the teach pendant back to the XS/
XP20 pin “M”.
- To the back plane X32 pin 6.
- Past a noise reducing capacitor (C3) to X35 pin 4.
- Then to XS3/XT3 terminal B9.
Sheet 8, line 08 ............
Fig. 6-5 ............
Sheet 8, line 06 ............
Fig. 6-2,3 .........
Fig. 6-4 ............
Sheet 8, line 02 ............
Fig. 6-1 ............
Sheet 8, line 01 ............
Sheet 8, line 05 ............
Fig. 6-5 ............
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