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ID : 10207

Safety I/O Wiring

This section describes the details of the Safety I/O in the following categories.

Wiring Table

The following shows the correspondence table of the Safety I/O cable terminal number and the line color.

Terminal number of connector

(viewed from the connector mating face)

Terminal number Name Wiring pair Line color
1 External emergency stop input 1b-1 Pair black
31 External emergency stop input 1b-2 pink
2 External emergency stop input 2b-1 Pair brown
32 External emergency stop input 2b-2 pink
3 Protective stop input 1-1 Pair red
33 Protective stop input 1-2 pink
4 Protective stop input 2-1 Pair orange
34 Protective stop input 2-2 pink
5 Enable auto input 1-1 Pair yellow
35 Enable auto input 1-2 pink
6 Enable auto input 2-1 Pair green
36 Enable auto input 2-2 pink
7 - Pair blue
37 - pink
8 - Pair black
38 - gray
9 - Pair brown
39 - gray
10 Enabling switch output 1-1 Pair red
40 Enabling switch output 1-2 gray
11 Enabling switch output 2-1 Pair orange
41 Enabling switch output 2-2 gray
12 - Pair yellow
42 - gray
13 Emergency stop output 1b-1 Pair green
43 Emergency stop output 1b-2 gray
14 Emergency stop output 2b-1 Pair blue
44 Emergency stop output 2b-2 gray
15 - Pair purple
30 - gray
16 STO monitor output 1+ Pair black
17 STO monitor output 1- white
18 STO monitor output 2+ Pair brown
19 STO monitor output 2- white
20 STO output 1+ Pair red
21 STO output 1- white
22 STO output 2+ Pair orange
23 STO output 2- white
24 - Pair yellow
25 - white

Type of Safety I/O Signals

The following shows the types of Safety I/O signal.

External Emergency Stop Input

To stop a robot.

Terminal number Description
1 and 31 (Line 1)
  • Short-circuit : Emergency stop disabled (robot does not stop)
  • Open : Emergency stop enabled (robot stops)
  • An error occurs if the status of line 1 and line 2 are inconsistent.
2 and 32 (Line 2)

Protective Stop Input

To suspend a robot motion.

Terminal number Description
3 and 33 (Line 1)
  • Short-circuit : Emergency stop disabled (robot does not stop)
  • Open : Emergency stop enabled (robot stops)
  • An error occurs if the status of line 1 and line 2 are inconsistent.
4 and 34 (Line 2)

Enable Auto Input

To set the operation mode of the robot controller to the automatic mode.

Terminal number Description
5 and 35 (Line 1)
  • Short-circuit : Emergency stop disabled (robot does not stop)
  • Open : Emergency stop enabled (robot stops)
  • An error occurs if the status of line 1 and line 2 are inconsistent.
6 and 36 (Line 2)

STO Monitor Output, STO Output

Use this signal to inform an external device of the STO state.

Emergency Stop Output

Use this signal to inform an external device of the emergency stop input state.

Enabling Switch Output

Use this signal to inform an external device of the enabling switch state.

ID : 10207

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