Denso RC5 - Manual (Page 139)

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5.2.2 Robot Stop and Enable Auto Input Circuits
The Robot Stop and Enable Auto signals are important for safety. The input circuit for
these signals must have contacts as shown below.
Use the INPUT CN8 (pins 1 and 3) of the robot controller for the power source,
irrespective of whether the power source to be used for other I/O signals is the
internal power source or an external power source.
(Note: For the “Dual emergency stop type”, refer to Subsection 5.2.4.2. )
Robot Stop and Enable Auto Input Circuits
TIP: For the configuration sample of an emergency stop output circuitry, refer to
Subsection 5.2.4 "Emergency Stop Circuit."