ABB IRC5P - Page 76

5 Installation and Commissioning
5.4 Robot Safety System Connections
76 3HNA009834-001 en Rev.06 Product Manual, Control Cabinet IRC5P
Figure 32 Two-channel run chain, principle diagram
Mode selector
+24VDC
Mode selector
+24VDC
EXT_TMS1
SCB-X1:9
SCB-X1:10
KA22
Pendant
enabling device
TEST MODE STOP (Cat.0)
+24VDC
EXT_TMS2
KA26
SCB-X1:11
SCB-X1:12
+24VDC
EXT_AMS1
SCB-X1:5
SCB-X1:6
KA18
AUTO MODE STOP (Cat.0)
+24VDC
EXT_AMS2
KA23
SCB-X1:7
SCB-X1:8
KA16 KA17
Motor on/off
+24VDC
EXT_DS1
SCB-X2:5
SCB-X2:6
KA19
DELAYED STOP (Cat.1)
+24VDC
EXT_DS2
KA24
SCB-X2:7
SCB-X2:8
+24VDC
EXT_GMS1
SCB-X2:1
SCB-X2:2
KA20
GENERAL MODE STOP (Cat.0)
+24VDC
EXT_GMS2
KA25
SCB-X2:3
SCB-X2:4
KA11 KA15
Emy stop
+24VDC
Chain 1 Chain 2
Motor control relays
DELAY DELAY
= Chain
monitoring points