IAI America XSEL-S - Manual (Page 486)

Chapter 8
Appendix
8.1.1 Safety Circuit Operation
Timings
478
[5] Occurrence of cold-start level error
200-VAC control power
Successful start of CPU
I/O output signal at port No.301,
ready output
RDY (system I/O)
SDN (S Type)
(system I/O)
EMG1, EMG2 (S Type)
(system I/O)
ENB1, ENB2 (S Type)
(system I/O)
Secret level error
Message level error
Operation-cancellation level error
Cold-start level error
System-shutdown level error
No error
No error
No error
No error
Occurrence of error
The timings of SDN and RDY vary slightly
depending on the specific nature of the error.
SDN turns OFF when cancellation of
all the programs,
errors that require servo-off on
all the axes, etc.
(initializing error, power supply error, etc.).