3-42 Emergency stop input and output etc.
3 Controller
3.6 Emergency stop input and output etc.
Do wiring of the external emergency stop, the special stop input, the door switch, and the mode selector
switch from the "special input/output" terminal connector.
Table 3-3: Special input/output terminal
*At the time of the power supply OFF, the output point of contact is always open.
[Note] Wire for each input terminal as shown in Fig. 3-6.
The contact capacity of each input/output terminal is DC24V/100mA. Do not connect the equipment
except for this range. The use exceeding contact capacity causes failure.
In the customer's system, do not ground the + side of 24V power supply prepared by customer for
connect to the controller. (related with emergency stop and parallel input/output) If it connects with
the controller under the condition that the + side is grounded, it will lead to failure of controller.
[Note] If a stop signal or servo OFF signal is input simultaneously with a door switch open/emergency stop
input, the error, H056n “Servo sys. error (A/D)” may occur.
When a door switch open/emergency stop is input, the robot turns off the servo after it stops. It is
unnecessary to input a stop signal or servo OFF signal. To input a stop signal or servo OFF signal
with a door switch open/emergency stop input, wait for 100ms or more after a door switch open/
emergency stop input.
Pin number assignment of each terminal and the circuit diagram are shown in Fig. 3-6.
3.6.1 Connection of the external emergency stop and mode selector switch
The input terminals for the external emergency stop, door switch, and mode selector switch are arranged as
shown in Fig. 3-6. Customers should be sure to prepare the external emergency stop, door switch, and
mode selector switch, etc. and use the robot while these are connected. Connection procedures are shown
below.
In addition, refer to Page 100, "6.1.7 Examples of safety measures" for the information on the emergency
stop connection and cautions.
[Caution] The emergency stop circuit is duplicated inside the controller. The emergency stop switch uses a
double contact-type switch, so please be sure to fix both of the contacts to the connector pins as
shown below in order to ensure the wiring is duplicated. An error will continue to occur in the event
that only one of the pins is connected.
1) Please prepare the emergency stop switch, door switch, and mode selector switch.
2) Connect the contacts of each switch to the contacts as shown below:
a) External emergency switch
CNUSR11 connector "between 7 and 23" and "between 14 and 30".
b) Door switch
CNUSR11 connector "between 6 and 22" and "between 13 and 29".
c) Mode selector switch
CNUSR11 connector "between 5 and 21" and "between 12 and 28".
[Caution] Be sure to use a shield cable for the emergency stop wiring cable and dedicated stop input wiring
cable. And when operating in an environment that is easily affected by noise, be sure to install the
ferrite core (recommended model name: E04SR301334, manufacturer: Seiwa Electric Mfg. Co.,
Ltd.). Be sure to place the ferrite core in 300mm or less from the connecting terminal section.
Item Name Function
Input Emergency stop Applies the emergency stop. Dual line, normal close
Input Special stop input Applies the stop. (Refer to Page 46, "3.6.2 Special stop input (SKIP)")
Input Door switch Servo-off. Dual line, normal close (Page 47, "3.6.3 Door switch function")
Input Mode selector switch Changes the mode (MANUAL/AUTOMATIC) of the controller. Dual line (Page 47, "3.6.4 Mode
selector switch function")
Output Robot error output Contactor is opening during error occurrence.
Output Emergency stop output The point of contact opens under occurrence of emergency stop of external input signal,
emergency stop of T/B.
Output Mode output MANUAL mode: contactor is opening, AUTOMATIC mode: contactor is closing.
Output Additional axis
synchronization output
When an additional axis is used, the servo ON/OFF status of the additional axis can be
synchronized with the robot arm. (Page 52, "3.8 Additional axis synchronization output")
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