Overview of terminal blocks
Illustration 14: Overview of terminal blocks
Safety blocks S1 through S6 are highlighted in blue.
Secure inputs/outputs
The safe inputs and outputs can be used to monitor safety devices and control actuators.
Overview of safety terminal blocks, grouped by function
| S1 | ¹ | ² | S2 | ¹ | ² | S3 | ¹ | ² |
|---|---|---|---|---|---|---|---|---|
| 24 V | 10 | 24 V | 10 | Surveillance robot stopped | 10 | E | ||
| Ground | 9 | Ground | 9 | Pulse 1 (output) | 9 | |||
| Emergency stop channel 1 (input) | 8 | A | 24 V | 8 | Ground | 8 | ||
| Emergency stop 1 (output) | 7 | Ground | 7 | Robot stopped 1.1 (output) | 7 | |||
| Emergency stop channel 2 (input) | 6 | Ground | 6 | C | Robot stopped 1.2 (output) | 6 | ||
| Emergency stop 2 (output) | 5 | Robot not stopped 1.1 | 5 | System stop monitoring 2 | 5 | F | ||
| 24 V | 4 | B | Robot not stopped 1.2 | 4 | Pulse 1 (output) | 4 | ||
| External reset ON | 3 | Ground | 3 | D | Ground | 3 | ||
| Ground | 2 | System stop 1.1 (output) | 2 | System stop 2.1 (output) | 2 | |||
| Reset LED (output) | 1 | System stop 1.2 (output) | 1 | System stop 2.2 (output) | 1 |
¹ Sequence number
² Group
| S4 | ¹ | ² | S5 | ¹ | ² | S6 | ¹ | ² |
|---|---|---|---|---|---|---|---|---|
| Auto mode (input) | 10 | G | Ground | 10 | J | Ground | 10 | L |
| Manual mode (input) | 9 | Safe input 1.1 | 9 | Safe input 3.1 | 9 | |||
| Pulse 1 | 8 | 24 V | 8 | 24 V | 8 | |||
| System/emergency stop relay output 1 | 7 | H | Safe input 1.2 | 7 | Safe input 3.2 | 7 | ||
| System/emergency stop relay input 1 | 6 | 24 V | 6 | 24 V | 6 | |||
| System/emergency stop relay output 2 | 5 | Ground | 5 | K | Ground | 5 | M | |
| System/emergency stop relay input 2 | 4 | Safe input 2.1 | 4 | Safe input 4.1 | 4 | |||
| Ground | 3 | I | 24 V | 3 | 24 V | 3 | ||
| Safe home/wait position 1 (output) | 2 | Safe input 2.2 | 2 | Safe input 4.2 | 2 | |||
| Safe home position 2 (output) | 1 | 24 V | 1 | 24 V | 1 |
¹ Sequence number
² Group
The following table describes the function of each safe input/output:
| Designation | Description | Part of the group |
|---|---|---|
| 24 V | +24 VDC output | |
| GND (ground) | 0 VDC | |
| Safe input x.x | Safety inputs | J, K, L, M |
| Pulse x | Persistent OSSD output | |
| Emergency stop x In | Incoming connection from an emergency stop device | A |
| Emergency stop x Out | Outgoing connection to an emergency stop device | A |
| Ext. reset input | 24 V input: Confirmation of the safe operational readiness of the system | B |
| Reset LED output | 24-V output for connecting a white reset LED | B |
| Robot not stopped x | 24 V output 24 V (HIGH) when a system stop is requested and the robot is safely at a standstill. (Reversal of the "Robot Stopped" output) | C |
| System stop x | 24 V output 0 (LOW) when a safe stop 0, 1, or 2 is requested | D, F |
| System stop monitoring | Reserved for future function expansion | F |
| Robot stopped | 24 V output 0 (LOW) when a system stop is requested and the robot is safely at a standstill | E |
| Surveillance robot stopped | Reserved for future function expansion | E |
| Automatic mode | Pulse 1 input for activating automatic mode (to be used only upon special request) | G |
| Manual mode | Pulse 1 input for activating manual mode (to be used only upon special request) | G |
| Stop relay output x | Configurable relay output from relay X. Emergency stop or system stop (default: emergency stop) | H |
| Stop relay input x | Input current for the relay output of relay X | H |
| Safe starting position x | 24 V (HIGH) when the base module and each drive module of the robot are in their respective starting positions (default value: 0 degrees). | I |
For further details and information on cabling, see Electrical installation.