6Safety
Safety
5-98
6.1.7 Examples of safety measures
Emergency stop input circuits are prepared on the user wiring terminal block of the controller. Create a circuit as
shown below for safety measures
.
Fig.6-1 ： Example of safety measures
(1) Install a limit switch on the safety fence's door. With a constantly open contact (a contact), wire to the door
switch input terminal so that the switch turns ON (is conducted) when the door is closed, and turns OFF (is
opened) when the door is open.
(2) Use a manual-return type b-contact for the emergency stop button.
(3) Classify the faults into minor faults (faults that are easily restored and that do not have a great effect) and
major faults (faults that cause the entire system to stop immediately, and that require care in restoration),
and wire accordingly.
[Caution] The emergency stop input(terminal block) on the user w iri n g i n t h e c o n t ro l l e r c a n b e u s e d f or s a f e t y
measures as shown in
Fig. 6-1. Note that there are limits to the No. of switch contacts, capacity and
cable length, so refer to the following and install.
・ Switch contact capacity........................Use a contact that operates with a switch contact capacity of
approx. 1mA to 100mA/24V.
・ Cable length................................................The length of the wire between the switch and terminal block
must be max. 15m or less.
・ Emergency stop output capacity....... Set it within 300 mA/24 VDC.
Connecting an external device outside of the above range will
cause a controller failure.
[Reference] The specifications of the RA1 and RA2 coil shown in Fig. 6-1 are as follow.
・ Rated voltage............................ DC24V ± 10％
・ Rated excitation current ...... 12.5mA ± 10％ （at25 deg.）
* Note that these specifications are subject to change without prior notice for modification purposes.
1
2
3
4
5
6
RA1
24V
MC1
RA3
＋
MC1
S/W-EMG
RA1
RA2
RA3
RA2
RA2
RA4
RA1
MC1
<Customer-prepared wiring> <Robot controller system>
To servo main circuit power
External emergency
stop input
Teaching pendant
deadman switch
Operation panel
emergency stop
Teaching pendant
emergency stop
Teaching pendant
deadman switch
Software emergency
stop
External emergency
stop output
T/B remove
switch
Door switch
input
External emergency
stop
Door switch
[Caution] Some information has been omitted for explanation proposes, so some parts may differ.
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