Epson T3 Series User Manual

2. Installation
64 Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15
2.5.7 Pin Assignments
The EMERGENCY connector pin assignments are as follows:
(D-Sub 25 pin male)
Pin
No.
Signal Function
Pin
No.
Signal Function
1 ESW11
Emergency Stop switch
contact (1)
*3
14 ESW21
Emergency Stop switch
contact (2)
*3
2 ESW12
Emergency Stop switch
contact (1)
*3
15 ESW22
Emergency Stop switch
contact (2)
*3
3
ESTOP1+
Emergency Stop circuit 1 (+)
*4
16
ESTOP2+
Emergency Stop circuit 2 (+)
*4
4
ESTOP1
−
Emergency Stop circuit 1 (-)
*4
17
ESTOP2−
Emergency Stop circuit 2 (-)
*4
5
Not used
*1
18
SDLATCH1
Safety Door Latch Release
6
Not used
*1
19
SDLATCH2
Safety Door Latch Release
7
SD11
Safety Door input (1)
*2
20
SD21
Safety Door input (2)
*2
8
SD12
Safety Door input (1)
*2
21
SD22
Safety Door input (2)
*2
9
24V
+24V output
22
24V
+24V output
10
24V
+24V output
23
24V
+24V output
11
24VGND
+24V GND output
24
24VGND
+24V GND output
12
24VGND
+24V GND output
25
24VGND
+24V GND output
13
Not used
*1
*1 Do not connect anything to these pins.
*2 A critical error occurs if the input values from the Safety Door 1 and Safety Door 2 are different
for two or more seconds. They must be connected to the same switch with two sets of
contacts.
*3 A critical error occurs if the input values from the Emergency Stop switch contact 1 and
Emergency Stop switch contact 2 are different for two or more seconds. They must be
connected the same switch with two sets of contacts.
*4 Do not apply reverse voltage to the Emergency Stop circuit.
Emergency Stop switch output rated load
+30 V 0.3 A or under
1-2, 14-15 pin
Emergency Stop rated input voltage range
Emergency Stop rated input current
+24 V ±10%
37.5 mA ±10% / +24V input
3-4, 16-17 pin
Safety Door rated input voltage range
Safety Door rated input current
+24 V ±10%
10 mA / +24 V input
7-8, 20-21 pin
Latch Release rated input voltage range
Latch Release rated input current
+24 V ±10%
10 mA / +24 V input
18-19 pin
The total electrical resistance of the Emergency Stop switches and their circuit should
be 1 Ω or less.
CAUTION
■
The 24 V output is for emergency stop. Do not use it for other
purposes. Doing so may result in system malfunction.
■
Do not apply reverse voltage to the Emergency Stop circuit.
Doing so may result in system malfunction.

NOTE

Epson T3 Series Specifications

General

Payload	3 kg
Number of Axes	4
Programming Language	EPSON RC+
Type	SCARA
Reach	400 mm