3-46 Emergency stop input and output etc.
3 Controller
3.6.2 Special stop input (SKIP)
The SKIP is the input signal to stop the robot. Please connect the pin 4, 13 of the CNUSR12 connector
shown in Fig. 3-8.
Table 3-4: Special stop input electric specification
Fig.3-8: Connection of the special-stop-input
Item Specifications Internal circuit
Type DC input
No. of input point 1
Insulation method Photo-coupler insulation
Rated input voltage DC24V
Rated input current Approx. 11mA
Working voltage range DC 21.6 to 26.4V (Ripple rate within 5%)
ON voltage/ON current DC 8V or more / 2mA or more
OFF voltage/OFF current DC 4V or less / 1mA or less
Input resistance Approx. 2.2kΩ
Response
time
OFF→ON 1ms or less
ON→OFF 1ms or less
Common method 1 point per common
External wire connection
method
Connector
Note) 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.
* Refer to Page 45 "Fig. 3-7: Wiring method to the user
wiring connector" for more details about how to wire a
connector.
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