VT-B Series

Controller Safety Function standard functions:

• Safe Torque OFF (STO)
  A signal input from the Robot Controller opens a relay to cut off the power supply to the motors and stop the robot. This is a safe state for the Robot Controller.
  STO is operated indirectly from an emergency stop or protective stop. It cannot operate directly.

• Emergency Stop
  This function allows the robot to perform an emergency stop by an emergency stop switch attached to EMERGENCY connector. After the signal is input, an STO is executed, and after the motor stops, the robot is in an emergency stop status.
  There are two emergency stop circuits for the Robot Controller:

  • EMERGENCY connector
  • Emergency stop switch attached to Teach Pendant (E-Stop, TP)

• Safeguard (SG) (protective stop)
  This function allows the robot to perform a protective stop by a signal input from a safety peripheral device attached to the EMERGENCY connector. After the signal is input, the STO is executed, and after the motor stops, the robot is in a protective stop status.
  The Robot Controller safeguard (SG) circuit is as follows.

  • EMERGENCY connector