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6 Safety
<Wiring example 5>: Connecting an emergency stop switch of a peripheral device to two robot controllers when using collaborative
operation mode
The power supply for emergency stop input uses the power supply of peripheral equipment. Monitor the emergency stop
state by the peripheral equipment side.
<Operation of the emergency stop>
If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency stop state.
When the controller power is OFF, the peripheral devices are in the emergency stop state.
+24V
+3.3V
+3.3V
Internal emergency stop circuit
+24V
+3.3V
+3.3V
Internal emergency stop circuit
*1) The CNUSR11 port and SDI1 port both have two rows of terminals, indicating that there are two channels. Both channels must be
connected.
*2) This is the emergency stop switch of the teaching pendant that is connected to the robot controller.
*3) If a Safety extension unit is not connected to the robot controller, the error H2260 "Safety function execution disabled (No extended
safety unit)" will occur.
*4) For examples of safety input 1 connections, refer to the section "Connecting the safety extension unit to the controller" in the sep-
arate manual "Instruction Manual: Controller Setup and Maintenance".
Fig.6-5: Example of safety measures (wiring example 5)
6-100 Safety
T/B emergency stop switch
*2
Internal power supply 24V
+24V
+3.3V
+3.3V
+3.3V
+24V
+3.3V
+24V
T/B emergency stop switch
*2
Internal power supply 24V
+24V
+3.3V
+3.3V
+3.3V
+24V
+3.3V
+24V
*1
CNUSR11
14/7
30/23
13/6
Door switch
29/22
input
Mode selector
switch input
12/5
28/21
10/3
Emergency stop output
26/19
*4
11/4
Safety input 1
27/20
Mode output
(SDI1)
*1
8/1
Error output
24/17
RIO
RIO1
*1
CNUSR11
14/7
30/23
13/6
Door switch
29/22
input
Mode selector
switch input
12/5
28/21
10/3
Emergency stop output
26/19
*4
11/4
Safety input 1
27/20
Mode output
(SDI1)
*1
8/1
Error output
24/17
RIO
RIO1
Emergency stop switch
(4-contact type)
Peripheral equipment
COM+
A1 B1
A2 B2
*3
Safety
extension
unit
COM+
A1 B1
A2 B2
*3
Safety
extension
unit
Circuit
Monitor
Monitor
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