TP/MP

Mode selector SW Deadman SW

Emergency Stop button
(Manual / Auto) (Enable SW )
Internal
+24V

0V

MiniI/O Robot controller

Prepared by customer
CR CR
External Emergency 2 PS ENA1 ENA2
Stop input 1 Internal
36 +24V
DC24V External Emergency 3 PS 0V
Stop input 2
37
Circuit scheme
28 PS
Pendant Emergency Stop Safety I/O Ciruit (Operation conditions for power off)
output 1 62 PS

29 24V
PS
Pendant Emergency Stop
output 2 63 PS Pendant Emergency
Stop button 1 *1

1 PS Pendant Emergency
Enable Auto input 1 Stop button 2 *1
35 External Emergency Stop
31 PS input 1 *1
Enable Auto input 2
65 External Emergency Stop
input 2 *1
4 PS Manual mode Auto mode
Protective Stop
input 1 38
Protective Stop 5 PS Mode selector SW *1
input 2
39 Enable Auto input 1 *1

8 PS Enable Auto input 2 *1

CR
Deadman SW output 1 ENA1 Protective Stop
Deadman SW 1 *1
42 Safety input 1 *1

I/O Deadman SW 2 *1 Protective Stop

9 PS input 2 *1
Ciruit
CR
Deadman SW output 2 ENA2
43

CR1 CR2
30 PS Safety
Auto Mode Mutual Power-off
Monitoring output 1 0V 0V circuit

67 Caution
*1 : Checks condition by test pulse.
64 PS
Auto Mode Mutual : Contact points which behave in conjunction with each other.
Monitoring output 2

68

0V

10
STO monitor CR1
output 1a 44 PS

6 CR1
STO monitor CR1
output 1b 40 PS

27
STO monitor CR2
output 2a 61 PS CR2
7
STO monitor
CR2
output 2b
41 PS

PS:Self-recovery fuse(Max.0.15A)