The RC9 has multiple safety inputs that need to be wired in in order to operate the robot. Wiring is similar to RC8A in that you must wire in the emergency stop inputs, protective stop inputs, and enable auto inputs.

 

External Emergency Stop Input

To stop a robot.


https://www.fa-manuals.denso-wave.com/subfolder/en/RC9/img/010207/010207_1.png

 

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.


https://www.fa-manuals.denso-wave.com/subfolder/en/RC9/img/010207/010207_2.png

 

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.


https://www.fa-manuals.denso-wave.com/subfolder/en/RC9/img/010207/010207_3.png

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.


 

https://www.fa-manuals.denso-wave.com/en/RC9/010207/

 

In addition to the safety inputs, the RC9 for with VM-B and VL robots include safe motion inputs for additional safety. These are two inputs that are enabled by default called RLS and SS2. If these inputs are not wired in then the robot cannot be operated in AUTO mode as the SS2 input will prevent the robot from moving. RLS will lower the robot speed to a lowered speed setting if SS2 is properly wired in. Fortunately, these inputs can be disabled through Wincaps3 and the RC9 safety parameter tool.