I'm quite new to ABB robots and having trouble to figure out where to connect the external estop. Feel kind of stupid at the moment but finding the circuit diagram of the Panelboard A21 a bit difficult to interpret. So far i have managed to figure out where to connect the "gate circuit" but there seems to be some options for an external estop.
We will be running with a Safety PLC and safety relays. I need the terminals for connecting the external estop from the safety PLC and also the estop signals from the robot cabinet to the safety PLC.
Some help would be appreciated!