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3.4.2 External Emergency Stop (input)
(1) Function
This signal allows the external device to emergency-stop the robot.
(2) Terminal number
Controller type Signal name Terminal number
External Emergency Stop 1 #2 and #36 on CN5
Standard type
External Emergency Stop 2 #3 and #37 on CN5
External Emergency Stop 1 #1 and #19 on CN10
Global type*
External Emergency Stop 2 #2 and #20 on CN10
* The global type of controller must use two separate contacts to control two
External Emergency Stop input signals. Two circuits connected in parallel using a
single contact or an always-shorted circuit will be interpreted as an external circuit
failure so that the circuitry will not operate.
(3) Input conditions and operation
(a) Turning (opening) this signal OFF emergency-stops the robot.
1) The OFF signal turns the motor power OFF irrespective of whether the
robot is in Manual, Internal auto, or External auto mode.
2) During execution of programs (Robot Running signal ON), the OFF
signal turns the motor power OFF and places the robot in internal
mode after decelerating the robot to a stop. It also resets programs so
as not to execute the subsequent and the following steps.
3) When the program is stopped in Manual or Auto mode, the OFF signal
produces nothing except it turns the power to the motor OFF.
(b) This signal must be turned ON (shorted) in order to turn the motor power
ON and run the robot in Manual or Auto mode.
(c) Opening the External Emergency Stop input is functionally equivalent to
pressing the emergency stop button on the teach pendant or
mini-pendant.
(4) Input timing
This input signal will be processed prior to all commands and input signals.
Notes
(1) The different status between two emergency stop circuits, if kept for
at least approx. one second, will be interpreted as an occurrence of
trouble, triggering an error "279E: Inconsistent robot stop input" and
shutting down the motor power.
(2) The global type of controller should control two external emergency
stop inputs with separate contacts. Two circuits connected in parallel
with a single contact or either one circuit always short-circuited will
be interpreted as an external circuit error, producing no circuit
operation.
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