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Application Templates Appendix A
Timing Chart
Safety I/O Terminal Settings
Program
Precautions for Safe Use
• Perform a function test every six months to detect contact welding failures on contactors.
• It is the user's responsibility to make sure that the entire system complies with standards.
• For safety reasons, two electrical switching elements and two mechanical actuators are
always necessary to detect electrical faults and mechanical faults.
Reset ON
Idle → Run
More than
350 ms
More than
350 ms
S2 detects a
human body.
Robot arm goes to the side of the worker.
E-Stop pressed
E-Stop released
S2 detects a human body
and robot arm goes to the
side of the worker.
KM1, KM2
EDM feedback
Limit switch S4
Reset S5
Safety limit switch
S3
E-Stop S1
SLC1
S2
More than
350 ms
Input Terminals
Output Terminals
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