2 Installation and Commissioning, IRC5
2.5.10. The MOTORS ON/MOTORS OFF circuit
693HAC021313-001 Revision: K
© Copyright 2004-2008 ABB. All rights reserved.
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 not are in an identical state, the robot will remain in MOTORS OFF
mode.
Connection of safety chains
The diagram below shows the dual channel safety chain.
The supply from internal 24V and 0 V is displayed. For external supply of GS and AS check
the circuit diagram.
xx0100000166
Technical data per chain
Limit switch Load: 300 mV
Max. voltage drop: 1 V
External connectors Load: 10 mA
Max. voltage drop: 4 V
GS/AS/SS load at 24 V 25 mA
GS/AS/SS closed "1" >18 V
Te rm in al Lo c a t io n
X5, X6
X22, X24
ControlModule
Drive Module
Continued
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