4 emergency stop circuit (for r/rx/rxd type) – IAI America XSEL-S User Manual
Page 86
Chapter 2 Wiring
2.2.4 Emergency Stop Circuit (For R/RX/RXD
Type)
78
2.2.4 Emergency Stop Circuit (For R/RX/RXD Type)
The following diagram shows the case when the teaching pendants emergency stop switch
is reflected on the machine’s emergency stop circuit design.
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Caution: �For R/RX/RXD controllers, the dead man’s switch on the teaching pendant is
effective only in MANU Mode. The emergency stop switch is always effective
no matter in MANU or AUTO.
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Make sure not to connect 100V or 200V AC accidently to the system I/O. It
may destroy the internal circuit.
CR1
CR1
0V
DC24V
CR2
ENB TBX1
CR6
CR5
CR5
CR6
ENB VCC1
EMG IN1
EMG OUT1
+24V
+24V
+24V
+24V
AUTO:
High
ENBin (IN)
ENBin
ENB1 (line+)
ENB1 (line-)
17
16
18
15
14
13
12
11
10
X
X
X
RDY (Out+)
RDY (Out-)
EMGin (IN)
EMGin
EMG1 (line+)
EMG1 (line-)
X
X
X
SDN (Out+)
SDN (Out-)
RDYOUT
CR3
CR3
CR3
CR4
CR4
CR2
CR1
8
7
9
6
5
4
3
2
1
ENBin (IN)
ENBin
ENB1 (line+)
ENB1 (line-)
17
16
18
15
14
13
12
11
10
X
X
X
RDY (Out+)
RDY (Out-)
EMGin (IN)
EMGin
EMG1 (line+)
EMG1 (line-)
X
X
X
SDN (Out+)
SDN (Out-)
CR2
CR1
8
7
9
6
5
4
3
2
1
ENBin (IN)
ENBin
ENB1 (line+)
ENB1 (line-)
17
16
18
15
14
13
12
11
10
X
X
X
RDY (Out+)
RDY (Out-)
EMGin (IN)
EMGin
EMG1 (line+)
EMG1 (line-)
X
X
X
SDN (Out+)
SDN (Out-)
CR2
CR1
8
7
9
6
5
4
3
2
1
(10mA or more)
AUTO/MANU
Mode
(At the Time of
Connection)
(10mA or more)
RDY Output
DC30V 0.2A or less
Motor Driving Power Supply
(120mA or more)
(120mA or more)
Teaching Pendant
Connection Detection Circuit
XSEL Controller
External EMG
Reset Switch
External
EMG
Circuit
Safety Gate
Safety Gate
This is turned ON
when the safety gate
safety door is closed.
Emergency Sop
XSEL Controller
Nth unit
2nd unit
Deadman Switch
Teaching Pendant
System I/O
Connector
(10mA or more)
(120mA or more)
SDN Output
DC30V 0.2A or less
SDN Output
DC30V 0.2A or less
SDN Output
DC30V 0.2A or less
Emergency Stop Release
XSEL Controller
RDY Output
DC30V 0.2A or less
RDY Output
DC30V 0.2A or less