I have a brand new IRC5 controller with SafeMove Pro. It has Keyless option and only one E-stop button (on the flexpendant).
Now I need to rewire it so that the E-stop goes in to an external system (a safety PLC) which handles all the safety for the machine.
In return I get "E-stop OK"-signal (among others) to the robot from the safety PLC (via a CI502-module).
I know how to do the setup in SafeMove, but I'm kind of clueless as to how to rewire the E-stop inside the IRC5-cabinet.
I've tried to find a circuit diagram, but with no success.
Also, I connected an external E-stop button to the CI502-module, declared the signal in the IO-tool and made the proper SafeMove configuration. But when pressed the robot does not go into Emergency Stop State (i.e. the system signal output for "Emergency Stop State" remains unchanged), as opposed to when I press the E-stop on the flexpendant. This seems kind of wrong, but as long as the robot stops, I guess? I mean, I set up the external E-stop button's signal to trigger "SC_EmergencyStop" with a stop category of "Catgory0Stop", so how come the robot doesn't go to "Emergency stop state"?