Safety circuits Connection
4 - 12
EMERGENCY-STOP input I/O connected
External EMERGENCY-STOP switch E = I (input) ✔
Door contact E = I (input) ✔
Activation unit input E = I (input) ✔
Error output A = O (output) —
Auxiliary axle output A = O (output) —
Operating mode output A = O (output) ✔
External relay connection — —
Tab. 4-2:
Inputs and outputs
R001516E
Fig. 4-13:
Signal flow plan
Output for
system
Operating mode
Teach Auto
open
closed
ON
closed open
closed open
ON
ON ON
Door contact output
Servo ON mode, Teaching Box
ENABLE switch, Teaching Box
Activation unit
EMERGENCY-STOP IO/control unit
Robot amplifier
EMG
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