Setting the Terminal Block for Contact Input (TBSFT)
The safety I/O of the controller consists of dual contact input terminals for connecting safety devices. These terminals are categorized into two groups depending on their use.
The external safety device signal recognized by the safety controller depending on the normally closed contact status, where all four contact inputs are normally closed, is as follows:
Contact Status | EM1 contact | EM2 contact | PR1 contact | PR2 contact |
|---|---|---|---|---|
Close | Normal | Normal | Normal | Normal |
Open | Emergency Stop | Emergency Stop | Protective Stop | Protective Stop |
Warning
- Do not connect the safety signal to regular PLCs that are not safety PLCs. Failure to do this will result in inappropriate operation of the safety stop function, which can cause severe injury or death to the user.
- If any of the contacts are open, the robot will stop operation according to the safety stop mode setting, and the LED on the right side of the TBSFT lights up. EMGA (Red), EMGB (Red), PRDA (Yellow), PRDB (Yellow)
Note
- EMGA : Emergency Stop channel A(EM1) LED
- EMGB : Emergency Stop channel B(EM2) LED
- PRDA : Protective Stop channel A(PR1) LED
- PRDB : Protective Stop channel B(PR2) LED
Caution
- To check for connection losses and connection shortages, this terminal must be connected to devices that output a safety signal as contacts. To connect peripherals that output safety signals as voltages to the safety controller, refer to the description for Setting the Configurable Digital I/O (TBCI1 - 4,TBCO1 - 4)