Omron G9SX, G9SX-GS, G9SX-NS User Manual
USER'S GUIDE
G9SX
G9SX Flexible Safety Unit
G9SX-NS Non-Contact Door Switch Controller
G9SX-GS Safety Guard Switching Unit
Cat.No. Z255-E1-01
2
G9SX
USER'S GUIDE
Introduction
This User’s Guide describes the usage of the G9SX Series-Flexible Safety Units mainly through application
examples.
Humans make mistakes and machines fail.
Therefore it is necessary to design machines and equipment based on the assumption that humans will make
mistakes and machines will fail.
Thus, a circuit configuration is required to ensure safety, even when an onsite operator makes a mistake in machine
operation or when a part of the machine fails. Flexible Safety Units, which enable various safety circuit patterns to be
configured only by simple wiring, provide the core components of such safety circuits.
Use the OMRON Flexible Safety Units in your machine and equipment to improve the safety designs and onsite
worker safety measures.
Outline of this User’s Guide
Section
1
Application Examples
Introduces applications that can be
configured with the G9SX.
Section
2
Functions of G9SX
Describes the functions of each unit of
G9SX Series.
Section
3
Wiring and Setup
Describes the wiring and settings
required for use.
Section
4
Ratings and Specifications
Provides specifications, dimensions and
terminal arrangements.
Appendix
Describes troubleshooting, accessories,
and related products.
G9SX
USER'S GUIDE
3
Ordering Information
■ List of Models
Advanced Unit
Note: 1. The OFF-delay time can be set in 16 steps as follows:
T15: 0/0.2/0.3/0.4/0.5/0.6/0.7/1/1.5/2/3/4/5/7/10/15 s
T150: 0/10/20/30/40/50/60/70/80/90/100/110/120/130/140/150 s
2. The OFF-delayed output becomes an instantaneous output by setting the OFF-delay time to 0 s.
3. P channel MOS FET transistor output
4. PNP transistor output
Basic Unit
Note: 1. P channel MOS FET transistor output
2. PNP transistor output
Non-Contact Door Switch Controller (Controllers for D40A)
Note: 1. P channel MOS FET transistor output
2. The OFF-delayed output becomes an instantaneous output by setting the OFF-delay time to 0 s.
3. PNP transistor output
4. The OFF-delay time can be set in 16 steps as follows:
0/0.2/0.3/0.4/0.5/0.6/0.7/0.8/0.9/1.0/1.2/1.4/1.8/2.0/2.5/3.0 s
Safety Guard Switching Unit
Note: 1. The OFF-delay time can be set in 16 steps as follows:
T15: 0/0.2/0.3/0.4/0.5/0.6/0.7/1/1.5/2/3/4/5/7/10/15 s
2. The OFF-delayed output becomes an instantaneous output by setting the OFF-delay time to 0 s.
3. P channel MOS FET transistor output
4. PNP transistor output (except for the external indicator outputs, which are P channel MOS FET transistor outputs)
Expansion Unit
Note: 1. PNP transistor output
2.
The OFF-delay time is synchronized to the OFF-delay time setting in the connected Unit (G9SX-AD-@, G9SX-ADA-@, G9SX-NSA@ and G9SX-GS-@).
Safety outputs
(solid state) (See note 3.)
Auxiliary outputs
(solid state)
(See note 4.)
Logical AND connection
No. of input
channels
Max. OFF-
delay time
(See note 1.)
Rated
voltage
Terminal block type Model
Instantaneous
OFF-delayed
(See note 2.)
Inputs Outputs
3
(Semiconductor)
2
(Semiconductor)2(Semiconductor)
1
(Semiconductor)1(Semiconductor)
1 or 2
channels
15 s
24 VDC
Screw terminals G9SX-AD322-T15-RT
Spring-cage terminals G9SX-AD322-T15-RC
150 s
Screw terminals G9SX-AD322-T150-RT
Spring-cage terminals G9SX-AD322-T150-RC
2
(Semiconductor)
2
(Semiconductor)2(Semiconductor)
15 s
Screw terminals G9SX-ADA222-T15-RT
Spring-cage terminals G9SX-ADA222-T15-RC
150 s
Screw terminals G9SX-ADA222-T150-RT
Spring-cage terminals G9SX-ADA222-T150-RC
Safety outputs
(solid state) (See note 1.)
Auxiliary outputs
(solid state)
(See note 2.)
Logical AND
connection
No. of input
channels
Rated
voltage
Terminal block type Model
Instantaneous OFF-delayed Inputs Outputs
2
(Semiconductor)
---
2
(Semiconductor)
02
1 or 2
channels
24 VDC
Screw terminals G9SX-BC202-RT
Spring-cage terminals G9SX-BC202-RC
Safety outputs
(See note.1)
Auxiliary outputs
(See note 3.)
Logical AND
connection
input
Logical AND
connection
output
Max. OFF-
delay time
(See note 4.)
Rated
voltage
Terminal block type Model
Instantaneous
OFF-delayed
(See note 2.)
2
(Semiconductor)
0
2
(Semiconductor)
11
--24 VDC
Screw terminals G9SX-NS202-RT
Spring-cage terminals G9SX-NS202-RC
2
(Semiconductor)
3.0 s
Screw terminals G9SX-NSA222-T03-RT
Spring-cage terminals G9SX-NSA222-T03-RC
Safety outputs (See note 3.)
Auxiliary outputs
(See note 4.)
Logical AND connection
Max. OFF-
delay time
(See note 1.)
Rated
voltage
Terminal block
type
Model
Instantaneous
OFF-delayed
(See note 2.)
Inputs Outputs
2 (semiconductor) 2 (semiconductor) 6 (semiconductor) 1 (semiconductor) 1 (semiconductor) 15 s
24
VDC
Screw terminals G9SX-GS226-T15-RT
Spring-cage
terminals
G9SX-GS226-T15-RC
Safety outputs
Auxiliary outputs
(See note 1.)
OFF-delay time Rated voltage Terminal block type Model
Instantaneous OFF-delayed
4 PST-NO (contact) ---
1 (semiconductor)
--24 VDC
Screw terminals G9SX-EX401-RT
Spring-cage terminals G9SX-EX401-RC
--- 4 PST-NO (contact) (See note 2.)
Screw terminals G9SX-EX041-T-RT
Spring-cage terminals G9SX-EX041-T-RC
4
G9SX
USER'S GUIDE
Model Number Structure
■ Model Number Legend
1. Functions
AD/ADA :Advanced Unit
BC :Basic Unit
GS :Safety Guard Switching Unit
NS/NSA :D40A Controller
EX :Expansion Unit
2. Output Configuration (Instantaneous Safety
Outputs)
0 : None
2 : 2 outputs
3 : 3 outputs
4 : 4 outputs
3. Output Configuration (OFF-delayed Safety
Outputs)
0 : None
2 : 2 outputs
4 : 4 outputs
4. Output Configuration (Auxiliary Outputs)
1 : 1 output
2 : 2 outputs
6 : 6 outputs
5. Max. OFF-delay Time
Advanced Unit
T15 : 15 s
T150 : 150 s
Basic Unit
No indicator : No OFF delay
Safety Guard Switching Unit
T15 : 15 s
D40A Controller
T03 : 3 s
Expansion Unit
No indicator : No OFF delay
T: OFF delay
6. Terminal Block Type
RT : Screw terminals
RC : Spring-cage terminals
1234 5 6
G9SX - @@@@@@ - @@@ - @@
G9SX
USER'S GUIDE
5
CONTENTS
Section
1
Application Examples 7
1. Partial control of machine 8
1-1 Parts Processing Machine
8
1-2 Machining Center
11
1-3 Semiconductor Manufacturing Equipment
15
1-4 Machine Tool
17
2. Using Non-contact Door Switch 20
2-1 Pick and Place Machine
20
2-2 Small Assembly System
22
3. Coordinated operation of worker and
machine
25
3-1 Manufacturing Automotive Parts Using
Semi-automatic Processing
25
4. Safety Measures for limited operations 28
4-1 Manufacturing Flat-panel Displays
(Maintenance)
28
4-2 Machining Center (Enabling Switch)
31
4-3 LCD Manufacturing (Guard Lock Control)
34
Section
2
Functions of G9SX 37
1. Function list of G9SX-series 38
2. Functions of each Unit 39
2-1 Basic Unit
39
2-2 Advanced Unit
40
2-3 Non-Contact Door Switch Controller
42
2-4 Safety Guard Switching Unit
44
2-5 Expansion Unit
48
CONTENTS
6
G9SX
USER'S GUIDE
Section
3
Wiring and Setup 51
1. I/O Terminals 52
1-1 Basic Unit
52
1-2 Advanced Unit
53
1-3 Non-contact Door Switch Controller
54
1-4 Safety Guard Switching Unit
55
1-5 Expansion Unit
56
2. Functions, Wiring and Settings 57
2-1 Logical AND Connection
57
2-2 Response Time and Operation Time
60
2-3 Reset Mode
62
2-4 Cross Fault Detection
63
2-5 Connecting Safety Sensors and the G9SX
64
2-6 OFF-delay Time
65
2-7 Non-contact Door Switch
66
2-8 Switching Mode
67
2-9 External Indicator Fault Diagnosis
68
2-10 Connecting Expansion Units
69
2-11 Confirming Settings
70
Section
4
Ratings and Specifications
71
1. Ratings 72
1-1 Advanced Unit/Basic Unit
72
1-2 Non-contact Door Switch Controller
73
1-3 Safety Guard Switching Unit
74
1-4 Expansion Unit
75
2. Characteristics 76
2-1 Advanced Unit/Basic Unit
76
2-2 Non-contact Door Switch Controller
77
2-3 Safety Guard Switching Unit
78
2-4 Expansion Unit
79
3. Dimensions and Terminal arrangements 80
3-1 Advanced Unit
80
3-2 Basic Unit
80
3-3 Non-contact Door Switch Controller
81
3-4 Safety Guard Switching Unit
81
3-5 Expansion Unit
82
Appendix 83
1. Troubleshooting
84
2. Logical AND Connections
91
3. Accessories and Related Products
93
Precautions 95
G9SX
USER'S GUIDE
7
Application ExamplesSection 1
Section
1
Application Examples
1. Partial control of machine 8
1-1 Parts Processing Machine
8
1-2 Machining Center
11
1-3 Semiconductor Manufacturing Equipment
15
1-4 Machine Tool
17
2. Using Non-contact Door Switch 20
2-1 Pick and Place Machine
20
2-2 Small Assembly System
22
3. Coordinated operation of worker and
machine
25
3-1 Manufacturing Automotive Parts Using
Semi-automatic Processing
25
4. Safety Measures for limited operations 28
4-1 Manufacturing Flat-panel Displays
(Maintenance)
28
4-2 Machining Center (Enabling Switch)
31
4-3 LCD Manufacturing (Guard Lock Control)
34
8
G9SX
USER'S GUIDE
Application ExamplesSection 1
1. Partial control of machine
1-1 Parts Processing Machine
The entire device stops when the Emergency Stop Switch is pressed.
Only the processing section stops when the Safety Light Curtain is interrupted.
Required Units
Unit Qty. Safety input to be applied Page
G9SX-BC 1 Emergency Stop Switch 39
G9SX-AD 1 Safety Light Curtains 40
(2) Safety Light Curtain
Processing section
Stop
Segment A
Basic Unit
G9SX-BC
(1) Emergency Stop
Switch
(1) Emergency Stop
Switch
Segment B
(2) Safety Light
Curtain
Processing section
Advanced Unit
G9SX-AD
Segment A
Segment A Segment B
Stop Stop
Segment B
Stop
Operation Example
(2) Safety Light Curtain is
interrupted.
(1) The Emergency Stop Switch
is pressed.
Logical AND connection
1. Partial control of machine
G9SX
USER'S GUIDE
9
Application ExamplesSection 1
■ Wiring Example
Setup (For details, refer to Section 3.)
G9SX-BC: Manual reset, Cross fault detection mode: ON (Category 4 Wiring)
G9SX-AD: Auto reset, Cross fault detection mode: OFF (Category 4 Wiring (with Safety Light Curtains)),
Logical AND connections, OFF-delay time setting
Wiring Example
Note: 1. This example corresponds to category 4. (when using a Type-4 Safety Sensor).
2. For further information on settings and wiring, refer to the datasheet or instruction sheet for the Safety Sensor.
3. Use Safety Sensors with PNP control outputs.
S14A2S24 S34 S44 S54
L1 X1 X2
T11A1T12 T21 T22 T31 T32 T33
Y1
T41 T42
S14A2S24 L1 L2
X1 X2
T11A1T12 T21 T22 T31 T32 T33
Y1
KM2
KM1
S2
12
11 21
22
+24V
+24V
KM1 KM2
M1
KM2
KM1
S1
+24V +24V
+24V
M2
KM4
KM3
S34
M3
KM6
KM5
OFF
NCNC
GND
G9SX-AD322-T15
Control circuit
G9SX-BC202
Control circuit
KM4
KM3
KM6
KM5
AND
KM3 KM4 KM5 KM6
Feedback Loop
NC
PLC etc.
Motor controller
Motor controller
(Operation command)
PLC etc.
Feedback Loop
F3SJ-A
GND
GND
ReceiverEmitter
Control output 1
Control output 2
S1 : Emergency Stop Switch
S2 : Reset switch
KM1 to KM6 : Contactor
M1 to M3 : 3-phase motor
Application ExamplesSection 1
1. Partial control of machine
10
G9SX
USER'S GUIDE
■ Timing chart
(1) Safety Light Curtain is interrupted: Only the lower Unit stops.
(2) Emergency stop button pressed: Both the upper and lower Unit stop.
G9SX-AD322-T15 (lower unit)
Reset switch S2
Emergency Stop Switch S1
KM1, KM2 NC contact
KM1, KM2 NO contact
Logical AND output L1
Logical AND input T41
Safety Light Curtain
Operation command
Rotation of motor
KM3, KM4 NC contact
KM5, KM6 NC contact
KM3, KM4 NO contact
KM5, KM6 NO contact
OFF-delay time OFF-delay time
G9SX-BC202 (upper unit)
(2)
(1)
1. Partial control of machine
G9SX
USER'S GUIDE
11
Application ExamplesSection 1
1-2 Machining Center
When the Emergency Stop Switch is pressed, the entire machine will stop.
When a door is open, the corresponding part will not be activated.
Required Units
Unit Qty. Safety input to be applied Page
G9SX-BC 1 Emergency Stop Switch 39
G9SX-AD 3
Guard Lock Safety Door Switch
Safety Door Switches (Set of two)
40
Segment A Segment B Segment C
(4) Tool changer door
(3) Pallet changer door
(1) Emergency Stop
Switch
(2) Main door
Segment A Segment B
(1) The Emergency Stop
Switch is pressed.
Stop Stop
Segment C
Stop
Segment A Segment B
(2) The main door is opened.
Stop Stop
Segment C
Stop
Segment A Segment B
(3) The pallet changer door
is opened.
Stop Stop
Segment C
Stop
Segment A Segment B
(4) The tool changer door is
opened.
Stop Stop
Segment C
Stop
Operation Example
Advanced Unit
G9SX-AD
Advanced Unit
G9SX-AD
Advanced Unit
G9SX-AD
(3) Pallet Changer Door (4) Tool Changer Door
Safety Door
Switch
Safety Door
Switch
Basic Unit
G9SX-BC
(2) Main Door
Logical AND connection
(1) Emergency Stop
Switch
Guard Lock
Safety Door
Switch
Application ExamplesSection 1
1. Partial control of machine
12
G9SX
USER'S GUIDE
■ Wiring Example
Setup (For details, refer to Section 3.)
G9SX-BC: Manual reset, Cross fault detection mode: ON (Category 4 Wiring)
G9SX-AD (main door section): Manual reset, Cross fault detection mode: ON (Category 4 Wiring),
Logical AND connections, OFF-delay time setting
G9SX-AD (pallet changer, tool changer): Auto reset, Cross fault detection mode: ON (Category 4 Wiring),
Logical AND connections, OFF-delay time setting
Wiring Example
PLC etc.
PLC etc.
PLC etc.
S14A2S24 S34 S44 S54
L1 X1 X2
T11A1T12 T21 T22 T31 T32 T33Y1T41 T42
S14A2S24 L1 L2
X1 X2
T11A1T12 T21 T22 T31 T32 T33
Y1
KM2
KM1
S2
S6
12
11 21
22
+24V
KM1 KM2
M1
KM2
KM1
S1
+24V
KM3 KM4
S344
M2
KM4
KM3
Motor controller
S344
M4
KM8
KM7
S344
M3
KM6
KM5
OFF
AND
S8
Open
S7
NC
NC
Feedback Loop
Lock release signal
GND
GND
G9SX-AD322-T15 (Main door)
Control circuit
G9SX-BC202
Control circuit
Feedback Loop
S14A2S24 S34 S44 S54
L1 X1 X2
T11A1T12 T21 T22 T31 T32 T33Y1T41 T42
+24V
+24V
+24V+24V
OFF
AND
NC
GND
G9SX-AD322-T15 (Tool changer door)
Control circuit
KM8
KM7
PLC etc.
Feedback Loop
S14A2S24 S34 S44 S54
L1 X1 X2
T11A1T12 T21 T22 T31 T32 T33Y1T41 T42
+24V
+24V
KM5 KM6
OFF
AND
NC
GND
G9SX-AD322-T15
(Pallet changer door)
Control circuit
KM6
KM5
S4
Feedback Loop
KM3
KM4
41
42
12
11
S5
KM4
KM3
S3
Open
KM7 KM8
Motor controller
(Operation command)
Motor controller
(Operation command)
Motor controller
(Operation command)
Motor controller
Motor controller
Stop signal
Guard
S1 : Emergency Stop Switch
S2, S6 : Reset switch
S3 : Guard Lock Safety Door Switch
S4 : Safety Limit Switch
S5 : Lock release switch
S7, S8 : Safety Door Switch
KM1 to KM8 : Contactor
M1 to M4 : 3-phase motor
Note: This example corresponds to category 4.
1. Partial control of machine
G9SX
USER'S GUIDE
13
Application ExamplesSection 1
■ Timing chart
(1) Before operation is started.
(2) Main door is unlocked and opened, and then work is performed.
(3) Restart operation after the main door is closed.
(4) The pallet changer door opens and the pallet changer section stops.
(5) The pallet changer door is closed and the pallet changer is reset.
(6) The tool changer door opens and the tool changer section stops.
(7) The tool changer door is closed and the tool changer section is reset.
(8) If the Emergency Stop Switch is pressed, the upper unit and lower units will stop.
Emergency Stop Switch S1
Reset switch S2
Logical AND output L1
KM1, KM2 NC contact
KM1, KM2 NO contact
Logical AND input T41
Logical AND input T41
Logical AND input T41
KM3, KM4 NC contact
KM3, KM4 NO contact
Safety Limit Switch S4
Safety Door Switch S7
Safety Door Switch S8
Reset switch S6
Operation command
Rotation of motor
Operation command
Rotation of motor
Operation command
Rotation of motor
OFF-delay time
OFF-delay time
OFF-delay time OFF-delay time
OFF-delay time OFF-delay time
Door can be opened.
Stop signal
Lock release signal
Lock release switch S5
Guard Lock Safety Door Switch S3
(1) (2) (3)
(8)
(4) (5)
(6) (7)
G9SX-BC202 (upper unit)
KM5, KM6, NC contact
KM5, KM6, NO contact
KM7, KM8, NC contact
KM7, KM8, NO contact
G9SX-AD322-T15 (lower unit : Main door)
G9SX-AD322-T15 (lower unit : Pallet changer door)
G9SX-AD322-T15 (lower unit : Tool changer door)
Application ExamplesSection 1
1. Partial control of machine
14
G9SX
USER'S GUIDE
■ Timing chart
(1) Before operation is started.
(2) The processing section cover is opened, and the processing section and the conveyor section stops.
(3) The processing section cover is closed and the processing section and conveyor section restart.
(4) The conveyor section cover is opened and the conveyor section stops.
(5) The transport section cover is closed and the conveyor section restarts.
(6) If the Emergency Stop Switch is pressed, unit A, unit B, and unit C will stop.
G9SX-BC202 (Unit A)
G9SX-AD322-T15 (Unit B:Processing section cover)
G9SX-AD322-T15 (Unit C:Conveyor section cover)
Emergency Stop Switch S1
Reset switch S2
Logical AND output L1
KM1, KM2 NC contact
KM1, KM2 NO contact
KM3, KM4 NC contact
KM3, KM4 NO contact
Operation command
Rotation of motor
Logical AND input T41
Operation command
Rotation of motor
KM5, KM6, NC contact
KM5, KM6, NO contact
Logical AND input T41
Safety Door Switch S4
Safety Door Switch S3
OFF-delay time
OFF-delay time OFF-delay time
OFF-delay timeOFF-delay time
(4)
(3)
(6)
(2)(1)
(5)
Logical AND output L1
1. Partial control of machine
G9SX
USER'S GUIDE
15
Application ExamplesSection 1
1-3 Semiconductor Manufacturing Equipment
When the Emergency Stop Switch is pressed, all of the equipment stops.
When the processing section cover is opened, the processing section and conveyor section stop.
When the conveyor section cover is opened, only the conveyor section stops.
Required Units
Unit Qty. Safety input to be applied Page
G9SX-BC 1 Emergency Stop Switch 39
G9SX-AD 2 Safety Door Switches (Set of two) 40
Logical AND
connection
Safety Door
Switch
Safety Door
Switch
Advanced Unit
G9SX-AD
Advanced Unit
G9SX-AD
Segment CSegment B
Basic Unit
G9SX-BC
Logical AND
connection
(1) Emergency Stop
Switch
Segment A
(3) The conveyor section
cover is opened.
(1) The Emergency Stop
Switch is pressed.
(2) The
processing section
cover is opened.
Operation Example
(2) Processing section cover (3) Conveyor section cover
(1) Emergency Stop
Switch
(2) Processing
section cover
(3) Conveyor
section cover
Segment A Segment B Segment C
Stop
Segment A Segment B
Stop Stop
Segment C
Stop
Segment A
Segment B
Stop
Segment C
Stop
Application ExamplesSection 1
1. Partial control of machine
16
G9SX
USER'S GUIDE
■ Wiring Example
Setup (For details, refer to Section 3.)
G9SX-BC: Manual reset, Cross fault detection mode: ON (Category 4 Wiring)
G9SX-AD: Auto reset, Cross fault detection mode: ON (Category 4 Wiring), Logical AND connections,
OFF-delay time setting
Wiring Example
S14A2S24 L1 L2
X1 X2
T11A1T12 T21 T22 T31 T32 T33
Y1
KM2
KM1
S2
12
11 21
22
+24V
M1
KM2
KM1
S1
+24V
NC
GND
G9SX-BC202 (Unit A)
Control circuit
S344
M3
KM6
KM5
Open
S4
Feedback Loop
S14A2S24 S34 S44 S54
L1 X1 X2
T11A1T12 T21 T22 T31 T32 T33Y1T41 T42
+24V
+24V
KM5 KM6
OFF
AND
NC
GND
G9SX-AD322-T15 (Unit C)
Control circuit
KM6
KM5
Motor controller
Motor controller
S344
M2
KM4
KM3
Open
S3
PLC etc.
Feedback Loop
S14A2S24 S34 S44 S54
L1 X1 X2
T11A1T12 T21 T22 T31 T32 T33Y1T41 T42
+24V
+24V
KM3 KM4
OFF
AND
NC
GND
G9SX-AD322-T15 (Unit B)
Control circuit
KM4
KM3
Feedback Loop
KM1 KM2
Motor controller
(Operation command)
Motor controller
(Operation command)
PLC etc.
PLC etc.
S1 : Emergency Stop Switch
S2 : Reset switch
S3, S4 : Safety Door Switch
KM1 to KM6 : Contactor
M1 to M3 : 3-phase motor
Note: This example corresponds to category 4.
1. Partial control of machine
G9SX
USER'S GUIDE
17
Application ExamplesSection 1
1-4 Machine Tool
When the Emergency Stop Switch is pressed, the entire machine will stop.
If the left door is opened, the left drive section and transport section will stop.
If the right door is opened, the right drive section and transport section will stop.
Required Units
Unit Qty. Safety input to be applied Page
G9SX-BC 1 Emergency Stop Switch 39
G9SX-AD 2 Safety Door Switches (Set of two) 40
G9SX-ADA 1 --- 41
Safety Door
Switch
Advanced Unit
G9SX-AD
Advanced Unit
G9SX-AD
(2) Left door (3) Right door
Safety Door
Switch
Segment A Segment B
Segment C
Advanced Unit
G9SX-ADA
Logical AND
connection
Logical AND
connection
Logical AND
connection
Transport section
Basic Unit
G9SX-BC
(1) Emergency Stop
Switch
(2) Left door (3) Right door
(1) The Emergency Stop
Switch is pressed.
(2) The left door is opened.
(3) The right door is opened.
Operation Example
(1) Emergency Stop
Switch
Segment A
Stop
Segment A
Stop
Segment A
Stop
Segment A
Stop
Segment A
Stop
Segment A
Stop
Segment A
Stop
Segment A
Stop
Segment A
Stop
Segment A
Stop
Segment A
Stop
Segment A
Stop
Segment A
Stop
Segment B
Stop
Segment A
Stop
Segment C
Stop
Segment A
Stop
Segment B
Stop
Segment A
Stop
Segment C
Stop
Segment A
Stop
Segment C
Stop
Segment A
Stop
Segment B
Stop
Application ExamplesSection 1
1. Partial control of machine
18
G9SX
USER'S GUIDE
■ Wiring Example
Setup (For details, refer to Section 3.)
G9SX-BC: Manual reset, Cross fault detection mode: ON (Category 4 Wiring)
G9SX-AD: Auto reset, Cross fault detection mode: ON (Category 4 Wiring), Logical AND connections,
No OFF-delay time setting
G9SX-ADA: Auto reset, Cross fault detection mode: ON (Category 4 Wiring), Logical AND connections,
OFF-delay time setting
Wiring Example
PLC etc.
S14A2S24 L1 L2
X1 X2
T11A1T12 T21 T22 T31 T32 T33
Y1
KM2
KM1
S2
12
11 21
22
+24V
KM1 KM2
M1
KM2
KM1
S1
+24V
NC
GND
G9SX-BC202
Feedback Loop
Open
S3
PLC etc.
Feedback Loop
S14A2S24 S34 S44 S54
L1 X1 X2
T11A1T12 T21 T22 T31 T32 T33Y1T41 T42
+24V
+24V
KM3 KM4
OFF
AND
Left drive section
Transport section
Right drive section
NC
GND
G9SX-AD322-T15 (Left door)
Control circuit
KM4
KM3
M3
KM6
KM5
M2
KM4
KM3
Open
S4
PLC etc.
Feedback Loop
S14A2S24 S34 S44 S54
L1 X1 X2
T11A1T12 T21 T22 T31 T32 T33Y1T41 T42
+24V
+24V
KM5 KM6
OFF
AND
NC
GND
G9SX-AD322-T15 (Right door)
Control circuit
KM6
KM5
PLC etc.
Motor controller
S344
M4
KM8
KM7
G9SX-ADA222-T150
S14A2S24 S44 S54
L1 X1
S34
X2
T11A1T12 T21 T22 T31 T32 T33Y1T41 T42
+24+24V V
OFF
AND
NC
Feedback Loop
GND
Control circuit
KM2
KM1
T51 T52
KM7 KM8
Control circuit
Motor controller
(Operation command)
S1 : Emergency Stop Switch
S2 : Reset switch
S3, S4, S5 : Safety Door Switch
KM1 to KM8 : Contactor
M1 to M4 : 3-phase motor
Note: This example corresponds to category 4.
1. Partial control of machine
G9SX
USER'S GUIDE
19
Application ExamplesSection 1
■ Timing chart
(1) Before operation is started.
(2) The left door is opened and the left drive section and transport section stop.
(3) The left door is closed and the left drive section and transport section restart.
(4) The right door is opened and the right drive section and transport section stop.
(5) The right door is closed and the right drive section and transport section restart.
(6) If the Emergency Stop Switch is pressed, the Upper Unit, Middle Unit, and Lower Unit will stop.
G9SX-AD322-T15 (middle unit: Left door)
G9SX-BC202 (upper unit)
G9SX-AD322-T15 (middle unit: Right door)
Emergency Stop Switch S1
Reset switch S2
Logical AND output L1
KM1, KM2 NC contact
KM1, KM2 NO contact
G9SX-ADA222-T150 (lower unit)
Logical AND output L1
Logical AND input T41
Logical AND input T41
Logical AND input T41
Logical AND input T51
Operation command
Rotation of motor
KM5, KM6, NC contact
KM5, KM6, NO contact
KM7, KM8, NC contact
KM7, KM8, NO contact
Safety Door Switch S4
KM3, KM4 NC contact
KM3, KM4 NO contact
Safety Door Switch S3
Logical AND output L1
OFF-delay time
OFF-delay time OFF-delay time
(4) (5)
(2)(1) (3)
(6)
20
G9SX
USER'S GUIDE
Application ExamplesSection 1
2. Using Non-contact Door Switch
2-1 Pick and Place Machine
If the Emergency Stop Switch is pressed, the entire machine will stop.
If the cover is opened, the entire machine will stop.
Required Units
Unit Qty. Safety input to be applied Page
G9SX-NSA 1
Emergency Stop Switch +
Non-contact Door Switch D40A
43
G9SX-NSA
(1) Emergency Stop
Switch
Motor
(1) Emergency Stop
Switch
(1) The Emergency Stop
Switch is pressed.
Operation Example
Cover
Cover
(2) Non-contact
Door Switch
(2) Non-contact
Door Switch
D40A
Segment A
Stop
Segment A
Stop
Segment A
Stop
Segment A
Stop
Segment A
Stop
Segment A
Stop
Segment A
Stop
Motor
Stop
Segment A
Stop
Segment A
Stop
Segment A
Stop
Segment A
Stop
Segment A
Stop
Segment A
Stop
Segment A
Stop
Motor
Stop
(2) Cover is opened.
2. Using Non-contact Door Switch
G9SX
USER'S GUIDE
21
Application ExamplesSection 1
■ Wiring Example
Setup (For details, refer to Section 3.)
G9SX-NSA: Manual reset, Cross fault detection mode: OFF (Category 2 Wiring), Logical AND connections: OFF,
OFF-delay time setting
Wiring Example
■ Timing chart
S14
M1
KM2
KM1
OFF
AND
G9SX-NSA222-T03
Control circuit
KM2
KM1
+24V
GND
S3
S2
+24V
+24V
12
11
S1
Motor controller
(Operation command)
X2X1L1
S54S44
A2
A1
S24S14
T11 T12 T21 T22 T31 T32 T33 T41 T42
Y1 D1 D2 D3 D4
KM2KM1
Feedback Loop
Non-contact
Door Switch
Actuator
Black
Brown
White
blue
PLC etc.
NCNC
Motor controller
NC
NC
S1 : Emergency Stop Switch
S2 : Non-contact Door Switch
S3 : Reset switch
KM1, KM2 : Contactor
M1 : 3-phase motor
Note: This example corresponds to category 2.
Emergency Stop Switch S1
Non-contact
Door Switch S2
OFF-delay time
Emergency Stop
Switch operation
OFF-delay time
KM1, KM2 NC contact
KM1, KM2 NO contact
Operation command
Rotation of motor
Reset switch S3
Application ExamplesSection 1
2. Using Non-contact Door Switch
22
G9SX
USER'S GUIDE
2-2 Small Assembly System
When the Emergency Stop Switch is pressed, both robots will stop.
When robot door A is opened, robot A will stop.
When robot door B is opened, robot B will stop.
Required Units
Unit Qty. Safety input to be applied Page
G9SX-BC 1 Emergency Stop Switch 39
G9SX-NS 2 Non-contact Door Switches D40A (Set of two) 42
Robot A Robot B
Logical AND connections
(1) Emergency Stop
Switch
D40A
G9SX-NS G9SX-NS
(2) Robot door A (3) Robot door B
(2) Robot door A
(3) Robot door B
G9SX-BC
D40A
(2) Robot door A
opened.
(3) Robot door B
opened.
(1) Emergency Stop
Switch
StopStopStopStop
Stop
Robot A
StopStopStopStop
Robot A
StopStopStopStop
Robot B Robot B
StopStopStopStop
Stop
Robot B
Robot A
(1) The Emergency Stop
Switch is pressed.
Operation Example
2. Using Non-contact Door Switch
G9SX
USER'S GUIDE
23
Application ExamplesSection 1
■ Wiring Example
Setup (For details, refer to Section 3.)
G9SX-BC: Manual reset, Cross fault detection mode: ON (Category 4 Wiring)
G9SX-NS: Auto reset, Logical AND connections (Category 3 Wiring)
Wiring Example
Note: This example corresponds to category 3.
M3
KM6
KM5
KM6
KM5
+24V
NC
+24V
OFF
AND
G9SX-NS202
(Robot door B)
Control circuit
S4
KM6KM5
S14 S24
A2
A1 D1 D3 D4 Y1
T31 T32 T33
T41 T42
D2
L1 X1 X2
NC
Y1
M2
KM4
KM3
KM4
KM3
+24V+24V
OFF
AND
G9SX-NS202
(Robot door A)
S3
KM4KM3
S14 S24
A2
A1 D1 D3 D4
T31 T32 T33
T41 T42
D2
L1 X1 X2
KM2
KM1
S2
12
11 21
22
+24V
M1
KM2
KM1
S1
+24V
NC
G9SX-BC202
Control circuit
KM2KM1
S14 S24
A2
A1
T11T11 T12 T21 T22 T31 T32 T33
Y1
L1 L2 X1 X2
Feedback Loop
GND
GND GND
Control circuit
PLC etc.
Actuator
Non-contact
Door Switch
Actuator
Non-contact
Door Switch
Feedback Loop Feedback Loop
PLC etc.
PLC etc.
S1 : Emergency Stop Switch
S2 : Reset switch
S3, S4 : Non-contact Door Switch
KM1 to KM6 : Contactor
M1 to M3 : 3-phase motor
Application ExamplesSection 1
2. Using Non-contact Door Switch
24
G9SX
USER'S GUIDE
■ Timing chart
(1) Before operation is started.
(2) Robot door A is opened and robot A stops.
(3) Robot door A is closed and robot A restarts.
(4) Robot door B is opened and robot B stops.
(5) Robot door B is closed and robot B restarts.
(6) If the Emergency Stop Switch is pressed, the upper unit, lower unit A, and lower unit B will all stop.
G9SX-NS202 (lower unit : Robot A)
G9SX-NS202 (lower unit : Robot B)
Emergency Stop Switch S1
Reset switch S2
Logical AND output L1
KM1, KM2 NC contact
KM1, KM2 NO contact
G9SX-BC202 (upper unit)
Logical AND input T41
Logical AND input T41
KM3, KM4 NC contact
KM3, KM4 NO contact
KM5, KM6 NC contact
KM5, KM6 NO contact
Non-contact
Door Switch S3
Non-contact
Door Switch S4
Rotation of motor M3
Rotation of motor M2
Rotation of motor M1
(6)
(1) (2) (3)
(4) (5)
G9SX
USER'S GUIDE
25
Application ExamplesSection 1
3. Coordinated operation of worker and machine
3-1
Manufacturing Automotive Parts Using Semi-automatic Processing
Two pairs of Light Curtains are automatically enabled and disabled according to the operations
of the operator and robot.
Required Units
Unit Qty. Safety input to be applied Page
G9SX-BC 1 Emergency Stop Switch 39
G9SX-GS 1 Light Curtain + Light Curtain 44
Basic Unit
G9SX-BC
Logical AND
connection
(1) Emergency
Stop Switch
A22E
(1) Emergency
Stop Switch
(2) Safety Light
Curtain A
(3) Safety Light
Curtain B
Safety Light
Curtain
F3SJ
Safety Light
Curtain
F3SJ
(2) Safety Light Curtain A (3) Safety Light Curtain B
Safety Guard
Switching Unit
G9SX-GS
Robot
Contactor
Auto switching
Emergency Stop Switch
Safety Light Curtain A
Safety Light Curtain B
When pressed, processing will stop.
When both are interrupted simultaneously, processing will stop.
Application ExamplesSection 1
3. Coordinated operation of worker and machine
26
G9SX
USER'S GUIDE
■ Wiring Example
Setup (For details, refer to Section 3.)
G9SX-BC: Manual reset, Cross fault detection mode: ON (Category 4 Wiring)
G9SX-GS: Auto reset, Cross fault detection mode: OFF (Category 4 Wiring (with Safety Light Curtains)),
Logical AND connections,
OFF-delay time setting
Switching mode: Auto
Diagnostic check of Indicator : Enabled (UB only)
Wiring Example
Note: This example corresponds to category 4.
S2
12
11 21
22
+24V
S1
+24V
+24V+24V +24V
+24V
G9SX-BC202
Control circuit
G9SX-GS226-T15
GND GND
+24V
GND
GND
M2
KM4
KM3
Auto
Manual
OFF
AND
T42T41T33T32T31
Y4Y2
T72T71T62
T61
M2M1Y3Y1
T22T21T12T11
A1
KM3
KM4
Control circuit
UB
UAX4X3X2X1L1
KM4KM3
S54S44S24S14
A2
M1
KM1
KM2
KM2
KM1
Y1
T33T32T31T22
A1
T11 T12 T21
X2X1L2L1
S14 S24
KM1 KM2
A2
F3SJ-A F3SJ-A
NC
Emergency
Stop Switch
PLC etc.
Feedback loop
ReceiverEmitter ReceiverEmitter
Safety Sensor A Safety Sensor B
NCNCNC NC NC NC
Control output 2
Control output 1
Control output 1
Control output 2
PLC etc.
Indicator
(Diagnostic
check disabled)
Indicator
(Diagnostic
check enabled)
NC
Feedback Loop
S1 : Emergency Stop Switch
S2 : Reset switch
KM1 to KM4 : Contactor
M1 to M2 : 3-phase motor
3. Coordinated operation of worker and machine
G9SX
USER'S GUIDE
27
Application ExamplesSection 1
■ Timing chart
(1) Before operation is started.
(2) Operator inserts workpiece
(3) Robot processes workpiece
(4) Both operator and robot enter the coordinated area: Only the G9SX-GS stops.
(5) The G9SX-GS restarts.
(6) Emergency stop button pressed: All units stop.
Emergency Stop Switch S1
Reset switch S2
Logical AND output L1
KM1, KM2 NC contact
KM1, KM2 NO contact
External indicator output UA
Logical AND input T41
Safety Sensor B control output
(monitoring the operator)
Safety Sensor A control output
(monitoring the robot)
Input B monitor output X4
Input A monitor output X3
External indicator output UB
Controls not related to safety
KM3, KM4 NC contact
KM3, KM4 NO contact
Robot movement enabled
Robot movement disabled
Robot movement enabled in
specific area only
G9SX-BC202
G9SX-GS226-T15
(3)
(1)
(4) (5)
(2)
(6)
28
G9SX
USER'S GUIDE
Application ExamplesSection 1
4. Safety Measures for limited operations
4-1 Manufacturing Flat-panel Displays (Maintenance)
Switching between Normal Operating Mode and Maintenance Mode is performed manually.
In
Normal Operating
Mode, the Safety Door Switch is enabled, and in Maintenance Mode
the Safety Limit Switch is enabled.
Required Units
Unit Qty. Safety input to be applied Page
G9SX-BC 1 Emergency Stop Switch 39
G9SX-GS 1 Door Switch + Limit Switch 44
(1) Emergency
Stop Switch
(3) Conveyor cart
(Safety Limit Switch)
(2) Cover (Safety Door Switch)
(4) Mode selector
(3) Conveyor cart (4) Mode selector(2) Cover
Safety Limit
Switch
D4F
Key-type
Selector Switch
A22K
Safety Door
Switch
D4NS
Safety Guard
Switching Unit
G9SX-GS
Contactor
Basic Unit
G9SX-BC
Logical AND
connection
(1) Emergency
Stop Switch
A22E
Conveyor cart
Emergency Stop Switch
Normal operating mode
Maintenance mode
Cover
Conveyor cart
When pressed, processing will stop.
When the cover is opened, processing will stop.
Emergency Stop Switch
Cover
Conveyor cart
When pressed, processing will stop.
Processing will continue regardless of whether the cover is opened or closed.
Processing will continue regardless of the conveyor cart position.
When the conveyor cart moves away from its safe position, processing will stop.
Manual
switching
Manual
switching
4. Safety Measures for limited operations
G9SX
USER'S GUIDE
29
Application ExamplesSection 1
■ Wiring Example
Setup (For details, refer to Section 3.)
G9SX-BC: Manual reset, Cross fault detection mode: ON (Category 4 Wiring)
G9SX-GS: Manual reset, Cross fault detection mode: ON (Category 4 Wiring), Logical AND connections,
OFF-delay time setting
Switching mode: Manual
Diagnostic check of Indicator: Enabled (UA only)
Wiring Example
Note: This example corresponds to category 4.
S14A2S24
L1 L2 X1 X2
T11A1T12 T21 T22 T31 T32 T33
Y1
KM2
KM1
S2
12
11 21
22
+24V
KM1 KM2
M1
KM2
KM1
S1
KM4
KM3
+24V
+24V
+24V
M2
KM4
KM3
KM4KM3
G9SX-BC202
Control circuit
S14A2S24
S44
S54
L1 X3X2X1 X4 UA
T11A1T12 T21
Y1
Y3
T22
T61 T62
M1 M2
T71
Y2
Y4
T72 T31 T32 T33 T41 T42
OFF
AND
Auto
Manual
G9SX-GS226-T15
Control circuit
23
24
11
12
11
12
S3
S4
21
22
S6
+24V
GND
UB
+24V
S5
NC
Feedback loop
Emergency
Stop Switch
PLC etc.
NCNC
Mode selector
Cover
NC
Feedback loop
PLC etc.
Indicator
(Diagnostic
check enabled)
Indicator
(Diagnostic
check disabled)
Conveyor cart
S1 : Emergency Stop Switch
S2, S7 : Reset switch
S3, S4 : Safety Limit Switch
S5 : Safety Door Switch
S6 : Selector switch
KM1 to KM4 : Contactor
M1 to M2 : 3-phase motor
Application ExamplesSection 1
4. Safety Measures for limited operations
30
G9SX
USER'S GUIDE
■ Timing chart
(1) Start the G9SX-GS in normal operating mode.
(2) Switch to maintenance mode.
(3) The operator opens the door and performs maintenance.
(4) When Safety Limit Switch S3 and Limit Switch S4 are turned OFF in maintenance mode, the G9SX-GS stops.
(5) After the door is closed and the operating mode is switched to normal operating mode, restart the G9SX-GS.
(6) When the door is opened during normal operating mode, the G9SX-GS stops.
(7) Close the door and restart the G9SX-GS.
(8) When the operating mode is switched to maintenance mode while Safety Limit Switch S3 and Limit Switch S4 are turned OFF, the G9SX-GS
stops.
(9) Switch to normal operating mode, and when the door is closed, restart the G9SX-GS.
(10) Emergency stop button pressed: All units stop.
Emergency Stop Switch S1
Reset switch S2
Logical AND output L1
KM1, KM2 NC contact
KM1, KM2 NO contact
Input B monitor output X4
Input A monitor output X3
External indicator output UB
External indicator output UA
Logical AND input T41
Mode selector input M2
Safety Limit Switch S3
Mode selector input M1
Reset switch S6
Safety Door Switch
KM3, KM4 NC contact
KM3, KM4 NO contact
Limit Switch S4
Conveyor section movement enabled
(with machine in normal operating mode)
Conveyor section movement enabled in
specific area only
(with machine in maintenance mode)
Conveyor section movement disabled
G9SX-BC202
G9SX-GS226-T15
Controls not related to safety
(1)
(2)
(3)
(4)
(5)
(6)
(7)
(8)
(9)
(10)
Loading...