Hi everyone,
I am using the krc4 robot at palletizing project.I have a conveyor at this project.Normally, I wiring contacts(for example 13-14,23-24) of safety relay to X11 connector.Now, ı want to stopping robot and conveyor when someone pushed emergency stop buttons.Actually there is a simple method. I can use $ALARM_STOP variable at sps.But this is not truth. So, I use the another contact(33-34) of safety relay at conveyor motor start signal. My safety relay is pnoz x2.8p. My question is that, this method is safe ? Now, thank you for all suggestions.