Connections

Connection of Interlocked Guard Switch (Safety Device) and Emergency Stop Switch

To ensure safety, connect a safeguard switch, emergency stop switch, or similar safety device to the safety I/O connector or emergency stop input connector of the Controller. Refer to the following sections for details.
Emergency Stop Input Connector
Safety I/O Connector

If nothing is connected to the safety I/O connector, the Controller does not operate normally.

The default assignments are as follows:

• EMERGENCY connector: Short plug
• Safety I/O 1ch: Emergency stop (Estop)
• Safety I/O 2ch: Safeguard (SG)

Controller Power Supply

Connect the Controller power supply. For details on the power supply specifications and how to connect the AC power cable, refer to the following section.
Power Supply

Connection of Manipulator and Controller

Connection Notes

• Before connection
  Before connecting the connector, check that the pins are not bent. Connecting with pins bent may damage the connector and result in malfunction of the robot system.

• Connection procedure
  Before performing any connection procedure, turn off the Controller and related equipment, and then unplug the power cable from the outlet. Performing any work procedure with the power turned on is extremely dangerous and may result in electric shock and/or malfunction of the robot system.

• Cables
  Be sure to connect the cables properly.
  The cables should be connected at all times. Use a guard cover to protect the cables. Do not put heavy objects on the cables, bend or pull on the cables forcibly, or allow the cables to be pinched. Damaged cables, broken wires, or contact failure is extremely hazardous and may result in electric shock and/or malfunction of the robot system.

• Connection-related information
  When connecting the Manipulator and the Controller, check that the serial numbers match for each device. Improper connection between the Manipulator and the Controller may not only lead to malfunction of the robot system but also safety problems.
  The serial number of the supported Manipulator is labeled on the Controller.

• Wiring
  Only authorized or certified staff should be allowed to perform wiring. Wiring by unauthorized or uncertified staff may result in bodily injury and/or malfunction of the robot system.

• For cleanroom-models
  When the Manipulator is a cleanroom model, an exhaust system must be connected. For details on the exhaust system, refer to the following manual.
  "Manipulator Manual"
  The Controller is not designed with cleanroom specifications, and so it should be placed outside the cleanroom or other measures should be taken.

• For protected-model
  Connect the power cable connector and the signal cable connector to the connector plate on the Manipulator immediately after Manipulator installation. Leaving the Manipulator unconnected may result in electric shock and/or malfunction of the robot system because protection at IP65 cannot be ensured.