IAI America XSEL-S - Manual (Page 130)

Chapter 2 Wiring
2.3.2 Wiring the Emergency Stop Circuit (System I/O )
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*1 Once it is disconnected between EMGin (IN) / EMGin (+24V), actuator will decelerate and
stop and have a servo-off operation, and then the power to the motor drive will shut.
*2 EMG1 (line+) / (line -) are the contact output for emergency stop.
*3 SDN (OUT+) / SDN (OUT-) contact outputs are the contacts that come to the break status
if the controller prohibits the supply of the motor power from outside. It comes to such a
situation when there is an error to the device straight after the control power to the
controller is turned on, and also when there is no command of driving source cutoff at
EMG or ENB.
*4 Once it is disconnected between ENBin (IN) / ENBin (+24V), actuator will decelerate and
stop and have a servo-off operation, and then the power to the motor drive will shut.
*5 ENB1 (line+) / (line-) are the contact outputs of enable signal.
*6 RDY (OUT+) / RDY (OUT-) are the contact outputs that are made when the controller is in
the normal operation. By connecting equivalent contacts of other devices to these
contacts in series, the healthiness of the whole system can be easily checked.