ABB IRC5 - Connection of External Safety Relay

2 Installation and Commissioning, IRC5
2.5.11. Connection of external safety relay
733HAC021313-001 Revision: K
© Copyright 2004-2008 ABB. All rights reserved.
2.5.11. Connection of external safety relay
Description
The motor contactors K42 and K43 in the Drive Module can operate with external equipment
if external relays are used.
The figure below shows an example of how to connect an external safety relay.
Connection example
xx0100000246
C Robot 1
D Robot 2
F ES (emergency stop) relay
G External Safety relay
H To other equipment
J Safety gate
K Cell ES (emergency stop)