IAI America XSEL-S - Manual (Page 132)

Chapter 2 Wiring
2.3.2 Wiring the Emergency Stop Circuit (System I/O )
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*1 DET (IN) / DET (+24V) inputs are the terminals for dry contact input consists of the
photocoupler. It enables the controller to detect the failure of the external safety circuit by
inputting the detection signals of contact welding on the drive source cutoff safety circuit.
*2 Once it is disconnected between EMGin (IN) / EMGin (+24V), actuator will decelerate and
stop and have a servo-off operation, and then the power to the motor drive will shut.
*3 EMG1 (line+) / (line-) and EMG2 (line+) / (line-) are the doubled contact outputs for
emergency stop.
*4 SDN (OUT+) / SDN (OUT-) contact outputs are the contacts that come to the break status
if the controller prohibits the supply of the motor power from outside. It comes to such a
situation when there is an error to the device straight after the control power to the
controller is turned on, and also when there is no command of driving source cutoff at
EMG or ENB.
Make sure to construct the circuit in a way the drive source power would never be
supplied when this contact is in open condition. (E6D drive source cutoff relay error will
occur when the control power and driving power are supplied at the same time.)
*5 Once it is disconnected between ENBin (IN) / ENBin (+24V), actuator will decelerate and
stop and have a servo-off operation, and then the power to the motor drive will shut.
*6 ENB1 (line+) / (line-) and ENB2 (line+) / (line-) are the doubled contact outputs for enable
signals.
*7 RDY (OUT+) / RDY (OUT-) are the contact outputs that are made when the controller is in
the normal operation. By connecting equivalent contacts of other devices to these
contacts in series, the healthiness of the whole system can be easily checked.