Connecting as Safeguard
To maintain a safe working zone, safety barriers must be set up around the Manipulator. The safety barriers must have an safety devices at the entrance and exit to the working zone. The term "safeguard" as used in this manual refers to a safety device with an interlock that allows entry into the safety barriers. Specifically, this includes safety door switches, safety barriers, light curtains, safety gates, safety floor mats, and so on. You must assign at least one Safeguard (SG) in Safety Function Manager.
Connection conditions
Design the safeguards so that they satisfy the following conditions:
- When using a key switch type safety device, use a switch that forcibly opens the interlock contacts. Do not use switches that open their contacts using the spring force of the interlock.
- When using an interlock mechanism, do not disable the interlock mechanism.
- The safety I/Os have redundant circuits. Safeguard switches with two contacts should be used, and each contact should be connected to a redundant circuit.
KEY POINTS
The safeguard input has a redundant circuit design. If the status of these redundant circuits differs by two seconds or longer, the system recognizes it as an error in the safeguard circuit. Ensure that the safeguard input has redundant circuits.
Latch release input
The safeguard state and TEACH mode state are latched by software. The safety I/O connector has a latch release input for releasing these latched states. (The term "latch" means "hold.")
This signal is a single signal type because it is a non-safety signal.
When connecting switches, use normally open switches.
- Latch release input open (switch OFF)
The safeguard open state and TEACH mode state are latched. - Latch release input close (switch ON)
The latched state is released.
KEY POINTS
When the latched state of TEACH mode is released while the safeguard is open, operation is prohibited because the safeguard is open. To start the Manipulator, close the safeguard and then close the latch release input.
When connecting, maintain the following electrical characteristics for latch release input.
The latch release input uses bipolar components, so it does not matter whether the power supply is connected to Pin A8 or A10.
Voltage: +24 V ±10%
Current: 10 mA/+24 V input
CAUTION
Because the latch release input terminal has only one channel, if it is assigned to multiple safeguards, they will operate together. Therefore, if you wish to place a latch release switch on each safeguard, connect the switches in series.
Checking the switch function
After connecting the safeguard switch and latch release switch to the safety I/O connector, a safety check must be performed. Use the following procedure to check the function of the switch before operating the Manipulator.
- While the safeguard is open, turn on the power to start up the Controller.
- Make sure that "Safety" is displayed on the status bar on the screen. Or confirm that "SO" is displayed on the Controller's 7-segment LED.
- Close the safeguard and turn on the switch connected to the latch release input.
- Make sure that "Safety" no longer appears on the status bar. Or confirm that "SO" is no longer displayed on the Controller's 7-segment LED.
Connection examples
When two safeguards are connected
When a safeguard and laser curtain are connected
Connecting as Safety Function Switching Device
The SLS and SLP settings need to be switched to match the customer's usage environment. The safety input can be used as the switching function. Safety PLCs and laser curtains are assumed as input signals.
For details, refer to the following manual.
"Robot Controller Safety Function Manual"
Connection example (when connected to a safety PLC)
Because the safety PLC has PNP outputs, only the following combinations are available.
