Product manual

Installation and Commissioning Connecting Signals
Product Manual IRB 6400R 47
3.8 The MOTORS ON / MOTORS OFF circuit
To set the robot to MOTORS ON mode, two identical chains of switches must be closed. If any
switch is open, the robot will switch to MOTORS OFF mode. As long as the two chains are not
identical, the robot will remain in MOTORS OFF mode.
Figure 37 shows an outline principal diagram of the available customer connections, AS, GS and
ES.
Figure 37 MOTORS ON /MOTORS OFF circuit.
Manual
LS = Limit switch
AS = Automatic mode safeguarded space Stop
TPU En= Enabling device, teach pendant unit
GS = General mode safeguarded space Stop
ES = Emergency Stop
2nd
chain
interlock
AS
GS
Auto
M
Drive
unit
Contactor
Solid state switches
LS
TPU En
ES
EN
RUN
Computer commands
&
Operating
mode selector