SS1 Input

Function

When this input is released (turns off), a robot starts deceleration to stop and then the motor power turns OFF. (Dual line)
This stop mechanism is equivalent to the stop category 1 of IEC 60204-1.

Terminal Number

Input Condition and Operation

1. Release of this input starts SS1 function.
   Motor power turns off regardless of the operation mode (Manual, Auto, Teach-check).
   When the program is running (when Robot Running output is ON), the robot starts deceleration to stop and then the motor power turns off.
   When the program is stop-state under the Manual or Auto mode, it just turns off the motor power and no other change occurs.
2. This input should be ON (short-circuit) when you turn on the motor power to run a robot in manually or automatically.

If the time difference between two SS1 inputs is 0.5 second or more, it is deemed as an abnormal state. An error is issued and the motor power will turn off.
Use different contacts to control two SS1 inputs. If one SS1 circuit is always short-circuited, or if two SS1 circuits are joined in one circuit, it is deemed as an external circuit error, as a result, the robot cannot start operation.

Input Timing

This input is prior to any other commands or input signals.

Timing Chart

Attention

In the messages displayed on a teach pendant regarding the SS1 function, the word "ON" means that the SS1 function is enabled. This also means that the circuits for SS1 input signals are open.