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ID : 3070

Safety Signal Wiring for the RC8 Safety-IO Less Specification

This section describes how to wire safety signals when the robot controller has the RC8 Safety-IO Less specification.

This applies to an area indicating "Safety signal wiring" in the entire system shown below.

Safety Signals to Be Connected

Connect the following signals (all are Mini I/O signals) to both the master and slave controllers.

  • External Emergency Stop input
  • Protective Stop input
  • Enable Auto input

For the master controller, the above signals should be connected from the equipment management device.

However, both the Protective Stop and Enable Auto inputs on the slave controller must be short-circuited.

Of Mini I/O signals on the slave controller, the following signals are inactive.

Do not wire them.

Signal Terminal No.

System I/O signals

However, the following signals are excluded.

  • Safety signals
  • CPU Normal output
  • Safety-circuit signals such as STO Monitor output

No. 11 to No. 26 and No. 46 to No. 60
User I/O signals

Wiring Example

When two robots are linked for cooperation, the signal wiring may be simple because the safety signal on the master controller can be directly connected to the slave controller.
On the other hand, if three or more robots are linked for cooperation, the safety signal of the master controller needs to be distributed to each slave controller with relays.
For about wiring example, refer to the following links.

The same wiring can be used even if the slave controller is RC8A.

The wiring can be connected to Mini I/O using "I/O cable for Mini I/O" or "Mini I/O connector kit" (both are optional).

Mini I/O connector kit consists of a connector only. Customers need to prepare cables by themselves when selecting this part though, there is also advantage that the master controller's Mini I/O wiring can be easily separated into two devices (an equipment control device and the slave controller).

For the option part numbers and connector pin arrangement, refer to the tables below.

Option part numbers
Part name Part number
I/O cable for "Mini I/O" (68 pins) 8 m 410141-270*
15 m 410141-271*
Mini I/O connector kit 410159-019*
Connector pin arrangement
Mini I/O type I/O allocation mode Reference
NPN Mini I/O dedicated Refer to "[NPN type, Mini I/O dedicated mode] Mini I/O Pin Assignment for RC8".
Other than Mini I/O dedicated Refer to "[NPN type, other than Mini I/O dedicated mode] Mini I/O Pin Assignment for RC8".
PNP Mini I/O dedicated Refer to "[PNP type, Mini I/O dedicated mode] Mini I/O Pin Assignment for RC8".
Other than Mini I/O dedicated Refer to "[PNP type, other than Mini I/O dedicated mode] Mini I/O Pin Assignment for RC8".

ID : 3070

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