ID : 1990

Safety Signal Wiring for the RC8 Standard Specification

This section describes how to wire safety signals when a robot controller has the RC8 Standard 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.

For the slave controller, use the following wiring instructions.

Safety signal	Wiring description
External Emergency Stop input	Wiring is different depending on whether or not a teach pendant is always connected to the master controller. For details, refer to "Safety Signal Wiring Examples".
Protective Stop input	Short-circuit it.
Enable Auto input	Connect the contactor contact monitor output (1a, 2a) of the master controller.

Safety signal

Wiring description

External Emergency Stop input

Wiring is different depending on whether or not a teach pendant is always connected to the master controller.

For details, refer to "Safety Signal Wiring Examples".

Protective Stop input

Short-circuit it.

Enable Auto input

Connect the contactor contact monitor output (1a, 2a) of the master controller.

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

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

Safety Signal Wiring Examples

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*
I/O cable for "Mini I/O" (68 pins)	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".
NPN	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".
PNP	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 : 1990

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