Safety
Electrical
Troubleshooting Guide
IRB6400 M94A
Page 1 - 9
1.6 Safety Control Chain of Operation
The safety control order of operation is based on dual electrical
safety circuits (Run Chains) which interact with the robot
computer and enable the MOTORS ON mode.
The electrical safety circuits consist of several switches
connected in series, in such a way that ALL of them must be
closed before the robot can be set to MOTORS ON mode.
MOTORS ON mode means that power is supplied to the
motors.
The electrical safety chains are continuously monitored and the
robot reverts to the MOTORS OFF mode when a fault is
detected by the computer. MOTORS OFF mode means that
drive power is removed from the robot’s motors and the brakes
are applied.
A5
A6
G S
A7
A 8
E S
A9
A 10
KM 1
DRIVE
S YSTEM M
EN ABL IN G
DE VI CE
A1
A2
M S
M A NUA L
REDUCED
F ULL
AUTO
A3
A 4
A S
24 Vd c
A11
A 12
L IM 1
263 V ac
X 3
COM PU TE R ENA B LE
CO M PUT E R M O T ORS O N
K M 3 RE LA Y
B 5
B 6
B 7
B8
2 4 V dc
B9
B1 0
ENA BLI NG
DE VIC E
B1
B2
B 3
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