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Wiring of external safety devices (SF1)

This section provides examples of how to correctly wire safety devices to the safety I/O.

Connection of an external emergency stop button​

The following figure shows the wiring for connecting an external emergency stop button to the S1 safety terminal block.

Connection of an external emergency stop button

Illustration 36: Connection of an external emergency stop button

Connecting the emergency stop signal of the robot to other devices​

The following figure shows the wiring for triggering the emergency stop function of an external device when an emergency stop is triggered on the robot.

Connection for triggering the emergency stop function of an external device

Illustration 37: Connection for triggering the emergency stop function of an external device

Connecting an external RESET button​

The following figure shows the wiring for connecting an external reset button and the reset LED to the S1 safety terminal block.

Connecting the external RESET Button and the RESET LED

Illustration 38: Connecting the external RESET Button and the RESET LED

Connecting an external safety device/sensor to trigger activation rules (SF8-SF14)​

The following figure shows the wiring for connecting an external safety device to the S5 safety terminal block. This wiring also applies to the input block (I3.2, I3.1) and the corresponding inputs on S6.

Connecting an external safety device/sensor to trigger activation rules

Illustration 39: Connecting an external safety device/sensor to trigger activation rules

Connecting the robot stop output (SF6)​

Robot NOT stopped, output connected to S2

Illustration 40: Robot NOT stopped, output connected to S2

As shown in Overview of terminal blocks, the robot stop output is either:

  • the output of the connections to S2 (high; low when the robot is stopped) or
  • the output of the connections to S3 (low; high when the robot is stopped).

The outputs for the safe home position (SF7) are connected in the same way.

Connecting the system stop output​

Connecting the system stop output to S3 (S2 is the same)

Illustration 41: Connecting the system stop output to S3 (S2 is the same)

The system stop outputs on the S3 and S2 safety terminal blocks are set to high (1) when one of the stop categories (SS0, SS1, SS2) is triggered, allowing the system to detect the exact moment when a stop is triggered.

System stop output and robot stop output

The difference between the system stop output and the robot stop output is that the second pair of outputs is set to high ONLY when the robot has come to a complete stop and is stationary.

In the event of a stop, the system stop outputs are set to high 0.2–0.5 seconds earlier than the robot stop outputs.