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
2G9SX USER'S GUIDE
IntroductionThis 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
1Application Examples
Introduces applications that can be configured with the G9SX.
Section
2Functions of G9SX
Describes the functions of each unit of G9SX Series.
Section
3Wiring and Setup
Describes the wiring and settings required for use.
Section
4Ratings and Specifications
Provides specifications, dimensions andterminal arrangements.
AppendixDescribes troubleshooting, accessories, and related products.
G9SXUSER'S GUIDE 3
Ordering Information
■ List of ModelsAdvanced 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 output4. PNP transistor output
Basic Unit
Note: 1. P channel MOS FET transistor output2. PNP transistor output
Non-Contact Door Switch Controller (Controllers for D40A)
Note: 1. P channel MOS FET transistor output2. The OFF-delayed output becomes an instantaneous output by setting the OFF-delay time to 0 s.3. PNP transistor output4. 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 output4. PNP transistor output (except for the external indicator outputs, which are P channel MOS FET transistor outputs)
Expansion Unit
Note: 1. PNP transistor output2. 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 connectionNo. of input channels
Max. OFF-delay time
(See note 1.)
Rated voltage
Terminal block type ModelInstantaneous
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 sScrew terminals G9SX-AD322-T150-RT
Spring-cage terminals G9SX-AD322-T150-RC
2(Semiconductor)
2(Semiconductor)
2(Semiconductor)
15 sScrew terminals G9SX-ADA222-T15-RT
Spring-cage terminals G9SX-ADA222-T15-RC
150 sScrew 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
channelsRated voltage
Terminal block type ModelInstantaneous OFF-delayed Inputs Outputs
2(Semiconductor)
---2
(Semiconductor)0 2
1 or 2 channels
24 VDCScrew 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 ModelInstantaneous
OFF-delayed (See note 2.)
2 (Semiconductor)
02
(Semiconductor)1 1
---
24 VDC
Screw terminals G9SX-NS202-RT
Spring-cage terminals G9SX-NS202-RC
2 (Semiconductor)
3.0 sScrew 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
ModelInstantaneous
OFF-delayed (See note 2.)
Inputs Outputs
2 (semiconductor) 2 (semiconductor) 6 (semiconductor) 1 (semiconductor) 1 (semiconductor) 15 s24
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 ModelInstantaneous 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
4G9SX 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
1 2 3 4 5 6
G9SX - @@@@@@ - @@@ - @@
G9SXUSER'S GUIDE 5
CONTENTS
Section
1Application 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
2Functions 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
6G9SX USER'S GUIDE
Section
3Wiring 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
4Ratings 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
G9SXUSER'S GUIDE 7
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1Section 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
8G9SX USER'S GUIDE
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1. Partial control of machine
1-1 Parts Processing MachineThe 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 UnitG9SX-BC
(1) Emergency Stop Switch
(1) Emergency Stop Switch
Segment B
(2) Safety Light Curtain
Processing section
Advanced UnitG9SX-AD
Segment ASegment A Segment B
Stop StopSegment 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
G9SXUSER'S GUIDE 9
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■ Wiring ExampleSetup (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.
S14A2 S24 S34 S44 S54 L1 X1 X2
T11A1 T12 T21 T22 T31 T32 T33 Y1 T41 T42
S14A2 S24 L1 L2 X1 X2
T11A1 T12 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
Con
trol
out
put 1
Con
trol
out
put 2
S1 : Emergency Stop SwitchS2 : Reset switchKM1 to KM6 : ContactorM1 to M3 : 3-phase motor
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1. Partial control of machine
10G9SX 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
G9SXUSER'S GUIDE 11
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1-2 Machining CenterWhen 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 3Guard 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 StopSegment C
StopSegment A Segment B
(2) The main door is opened.
Stop StopSegment C
Stop
Segment A Segment B
(3) The pallet changer door is opened.
Stop StopSegment C
StopSegment A Segment B
(4) The tool changer door is opened.
Stop StopSegment C
Stop
Operation Example
Advanced UnitG9SX-AD
Advanced UnitG9SX-AD
Advanced UnitG9SX-AD
(3) Pallet Changer Door (4) Tool Changer Door
Safety Door Switch
Safety Door Switch
Basic UnitG9SX-BC
(2) Main Door
Logical AND connection
(1) Emergency Stop Switch
Guard LockSafety Door Switch
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1. Partial control of machine
12G9SX USER'S GUIDE
■ Wiring ExampleSetup (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.
S14A2 S24 S34 S44 S54 L1 X1 X2
T11A1 T12 T21 T22 T31 T32 T33 Y1 T41 T42
S14A2 S24 L1 L2 X1 X2
T11A1 T12 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 controllerS344
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
S14A2 S24 S34 S44 S54 L1 X1 X2
T11A1 T12 T21 T22 T31 T32 T33 Y1 T41 T42
+24V+24V
+24V+24V
OFF
ANDNC
GND
G9SX-AD322-T15 (Tool changer door)
Control circuit
KM8
KM7
PLC etc.
Feedback Loop
S14A2 S24 S34 S44 S54 L1 X1 X2
T11A1 T12 T21 T22 T31 T32 T33 Y1 T41 T42
+24V+24V
KM5 KM6
OFF
ANDNC
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 SwitchS2, S6 : Reset switchS3 : Guard Lock Safety Door SwitchS4 : Safety Limit SwitchS5 : Lock release switchS7, S8 : Safety Door SwitchKM1 to KM8 : ContactorM1 to M4 : 3-phase motor
Note: This example corresponds to category 4.
1. Partial control of machine
G9SXUSER'S GUIDE 13
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■ 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 timeOFF-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)
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1. Partial control of machine
14G9SX 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
G9SXUSER'S GUIDE 15
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1-3 Semiconductor Manufacturing EquipmentWhen 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 ANDconnection
Safety Door Switch
Safety Door Switch
Advanced UnitG9SX-AD
Advanced UnitG9SX-AD
Segment CSegment B
Basic UnitG9SX-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
StopSegment A Segment B
Stop StopSegment C
StopSegment A Segment B
StopSegment C
Stop
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1. Partial control of machine
16G9SX USER'S GUIDE
■ Wiring ExampleSetup (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
S14A2 S24 L1 L2 X1 X2
T11A1 T12 T21 T22 T31 T32 T33 Y1
KM2
KM1
S2
12
11 21
22
+24V
M1
KM2
KM1
S1
+24VNC
GND
G9SX-BC202 (Unit A)
Control circuit
S344
M3
KM6
KM5
Open
S4
Feedback Loop
S14A2 S24 S34 S44 S54 L1 X1 X2
T11A1 T12 T21 T22 T31 T32 T33 Y1 T41 T42
+24V+24V
KM5 KM6
OFF
ANDNC
GND
G9SX-AD322-T15 (Unit C)
Control circuit
KM6
KM5
Motor controller
Motor controller
S344
M2
KM4
KM3
Open
S3
PLC etc.
Feedback Loop
S14A2 S24 S34 S44 S54 L1 X1 X2
T11A1 T12 T21 T22 T31 T32 T33 Y1 T41 T42
+24V+24V
KM3 KM4
OFF
ANDNC
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 SwitchS2 : Reset switchS3, S4 : Safety Door SwitchKM1 to KM6 : ContactorM1 to M3 : 3-phase motor
Note: This example corresponds to category 4.
1. Partial control of machine
G9SXUSER'S GUIDE 17
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1-4 Machine ToolWhen 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 UnitG9SX-AD
Advanced UnitG9SX-AD
(2) Left door (3) Right door
Safety Door Switch
Segment A Segment B
Segment C
Advanced UnitG9SX-ADA
Logical ANDconnection
Logical AND connection
Logical AND connection
Transport section
Basic UnitG9SX-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
StopSegment A
StopSegment A
StopSegment A
StopSegment A
StopSegment A
StopSegment A
StopSegment A
StopSegment A
StopSegment A
StopSegment A
StopSegment A
StopSegment A
StopSegment B
Stop
Segment A
StopSegment C
Stop
Segment A
StopSegment B
Stop
Segment A
StopSegment C
StopSegment A
StopSegment C
Stop
Segment A
StopSegment B
Stop
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1. Partial control of machine
18G9SX USER'S GUIDE
■ Wiring ExampleSetup (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.
S14A2 S24 L1 L2 X1 X2
T11A1 T12 T21 T22 T31 T32 T33 Y1
KM2
KM1
S2
12
11 21
22
+24V
KM1 KM2
M1
KM2
KM1
S1
+24VNC
GND
G9SX-BC202
Feedback Loop
Open
S3
PLC etc.
Feedback Loop
S14A2 S24 S34 S44 S54 L1 X1 X2
T11A1 T12 T21 T22 T31 T32 T33 Y1 T41 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
S14A2 S24 S34 S44 S54 L1 X1 X2
T11A1 T12 T21 T22 T31 T32 T33 Y1 T41 T42
+24V+24V
KM5 KM6
OFF
ANDNC
GND
G9SX-AD322-T15 (Right door)
Control circuit
KM6
KM5
PLC etc.
Motor controllerS344
M4
KM8
KM7
G9SX-ADA222-T150
S14A2 S24 S44 S54 L1 X1S34 X2
T11A1 T12 T21 T22 T31 T32 T33 Y1 T41 T42
+24+24V V
OFF
ANDNC
Feedback Loop
GND
Control circuit
KM2
KM1
T51 T52
KM7 KM8
Control circuit
Motor controller(Operation command)
S1 : Emergency Stop SwitchS2 : Reset switchS3, S4, S5 : Safety Door SwitchKM1 to KM8 : ContactorM1 to M4 : 3-phase motor
Note: This example corresponds to category 4.
1. Partial control of machine
G9SXUSER'S GUIDE 19
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■ 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)
20G9SX USER'S GUIDE
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2. Using Non-contact Door Switch
2-1 Pick and Place MachineIf 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 1Emergency Stop Switch +
Non-contact Door Switch D40A43
G9SX-NSA
(1) Emergency Stop Switch
Motor
(1) Emergency Stop Switch
(1) The Emergency Stop Switch is pressed.
Operation Example
CoverCover(2) Non-contact Door Switch
(2) Non-contact Door Switch D40A
Segment A
StopSegment A
StopSegment A
StopSegment A
StopSegment A
StopSegment A
StopSegment A
StopMotor
StopSegment A
StopSegment A
StopSegment A
StopSegment A
StopSegment A
StopSegment A
StopSegment A
StopMotor
Stop
(2) Cover is opened.
2. Using Non-contact Door Switch
G9SXUSER'S GUIDE 21
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■ Wiring ExampleSetup (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)
X2X1L1S54S44A2
A1
S24S14
T11 T12 T21 T22 T31 T32 T33 T41 T42Y1 D1 D2 D3 D4
KM2KM1
Feedback Loop
Non
-con
tact
D
oor
Sw
itch
Act
uato
r
Bla
ck
Bro
wn
Whi
te
blue
PLC etc.
NCNC
Motor controller
NC NC
S1 : Emergency Stop SwitchS2 : Non-contact Door SwitchS3 : Reset switchKM1, KM2 : ContactorM1 : 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
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2. Using Non-contact Door Switch
22G9SX USER'S GUIDE
2-2 Small Assembly SystemWhen 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 StopRobot A
StopStopStopStopRobot A
StopStopStopStopRobot B Robot B
StopStopStopStopStopRobot BRobot A
(1) The Emergency Stop Switch is pressed.
Operation Example
2. Using Non-contact Door Switch
G9SXUSER'S GUIDE 23
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■ Wiring ExampleSetup (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
+24VNC
+24V
OFF
AND
G9SX-NS202 (Robot door B)
Control circuit
S4
KM6KM5
S14 S24A2
A1 D1 D3 D4 Y1T31 T32 T33 T41 T42D2
L1 X1 X2
NC
Y1
M2
KM4
KM3
KM4
KM3
+24V+24V
OFF
AND
G9SX-NS202 (Robot door A)
S3
KM4KM3
S14 S24A2
A1 D1 D3 D4 T31 T32 T33 T41 T42D2
L1 X1 X2
KM2
KM1
S2
12
11 21
22
+24V
M1
KM2
KM1
S1
+24VNC
G9SX-BC202
Control circuit
KM2KM1
S14 S24A2
A1 T11T11 T12 T21 T22 T31 T32 T33 Y1
L1 L2 X1 X2
Feedback Loop
GND
GND GND
Control circuit
PLC etc.
Act
uato
r
Non
-con
tact
D
oor
Sw
itch
Act
uato
r
Non
-con
tact
D
oor
Sw
itchFeedback Loop Feedback Loop
PLC etc. PLC etc.
S1 : Emergency Stop SwitchS2 : Reset switchS3, S4 : Non-contact Door SwitchKM1 to KM6 : ContactorM1 to M3 : 3-phase motor
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2. Using Non-contact Door Switch
24G9SX 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)
G9SXUSER'S GUIDE 25
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3. Coordinated operation of worker and machine
3-1 Manufacturing Automotive Parts Using Semi-automatic ProcessingTwo 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 CurtainF3SJ
Safety Light CurtainF3SJ
(2) Safety Light Curtain A (3) Safety Light Curtain B
Safety Guard Switching UnitG9SX-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.
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3. Coordinated operation of worker and machine
26G9SX USER'S GUIDE
■ Wiring ExampleSetup (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
ANDT42T41T33T32T31Y4Y2T72T71T62T61M2M1Y3Y1T22T21T12T11A1
KM3
KM4
Control circuit
UBUAX4X3X2X1L1
KM4KM3
S54S44S24S14A2
M1
KM1
KM2
KM2
KM1
Y1T33T32T31T22A1 T11 T12 T21
X2X1L2L1S14 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
Con
trol
out
put 2
Con
trol
out
put 1
Con
trol
out
put 1
Con
trol
out
put 2
PLC etc.
Indicator(Diagnostic
check disabled)
Indicator(Diagnostic
check enabled)
NC
Feedback Loop
S1 : Emergency Stop SwitchS2 : Reset switchKM1 to KM4 : ContactorM1 to M2 : 3-phase motor
3. Coordinated operation of worker and machine
G9SXUSER'S GUIDE 27
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■ 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)
28G9SX USER'S GUIDE
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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 SwitchD4F
Key-type Selector Switch A22K
Safety Door SwitchD4NS
Safety Guard Switching UnitG9SX-GS
Contactor
Basic UnitG9SX-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
G9SXUSER'S GUIDE 29
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■ Wiring ExampleSetup (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.
S14A2 S24 L1 L2 X1 X2
T11A1 T12 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
S14A2 S24 S44 S54 L1 X3X2X1 X4 UA
T11A1 T12 T21 Y1 Y3T22 T61 T62M1 M2 T71 Y2 Y4T72 T31 T32 T33 T41 T42OFF
AND
Auto
Manual
G9SX-GS226-T15
Control circuit
23
24
11
12
11
12
S3
S421
22
S6
+24V
GND
UB
+24V
S5
NC
Feedback loopEmergency 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 SwitchS2, S7 : Reset switchS3, S4 : Safety Limit SwitchS5 : Safety Door SwitchS6 : Selector switchKM1 to KM4 : ContactorM1 to M2 : 3-phase motor
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4. Safety Measures for limited operations
30G9SX 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)
4. Safety Measures for limited operations
G9SXUSER'S GUIDE 31
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4-2 Machining Center (Enabling Switch)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 + Enabling Switch 44
EnablingSwitch
Door
Enabling Device
Enabling Device
Guard LockSafety DoorSwitches
(3) Enabling Switch
Emergency Stop Switch
Normal operating mode
Maintenance mode
When pressed, processing will stop.
When the door is opened, processing will stop.
The enabling switch is disabled.
When pressed, processing will stop.
Door Switch is disabled.
Processing will be possible only when the operator is gripping the enabling switch.
Emergency Stop Switch
Manual switching
Manual switching
(4) Mode selector(3) Motor(2) Door
Key-type Selector Switch A22K
Safety Guard Switching UnitG9SX-GS
Contactor
Basic UnitG9SX-BC
Logical AND connection
(1) Emergency Stop Switch A22E
Conveyor cart
(1) Emergency Stop Switch
(2) Safety Door Switch
Door
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4. Safety Measures for limited operations
32G9SX USER'S GUIDE
■ Wiring ExampleSetup (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: ManualDiagnostic check of Indicator: Enabled
Wiring Example
S14A2 S24 L1 L2 X1 X2
T11A1 T12 T21 T22 T31 T32 T33 Y1
KM2
KM1
S2
12
11 21
22
+24V
KM1 KM2
M1
KM2
KM1
PLC etc.
S1
KM4
KM3
+24V
+24V
M2
KM4
KM3
KM4KM3 PLC etc.
NC NC
NC
NCNC
Feedback Loop
Feedback Loop
G9SX-BC202
Control circuit
S14A2 S24 S44 S54 L1 X3X2X1 X4
T11A1 T12 T21 Y1 Y3T22 T61 T62M1 M2 T71 Y2 Y4T72 T31 T32 T33 T41 T42OFF
AND
Auto
Manual
G9SX-GS226-T15
Control circuit
S3 S7
+24V
GND
GND
EnablingSwitch
S4
OPEN
S5
KM3
KM4
31
32
11
12
Stop sigmal
Door
S6
UA UB
+24V
Indicator (Diagnostic
check enabled)
Indicator (Diagnostic
check enabled)
Mode selector
Lock release signal
2 4
1 3
S1 : Emergency Stop SwitchS2, S7 : Reset switchS3 : Enabling SwitchS4 : Guard Lock Door SwitchS5 : Lock release switchS6 : Safety Limit SwitchKM1 to KM4 : ContactorM1 to M2 : 3-phase motor
Note: This example corresponds to category 4.
4. Safety Measures for limited operations
G9SXUSER'S GUIDE 33
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■ Timing chart
(1) In Normal operating mode, the lower unit starts. (2) Maintenance mode is selected.(3) The operator opens the door and performs maintenance operation.(4) The Enabling Switch is gripped to the middle position.(5) In maintenance mode, the lower unit starts.(6) When the Enabling Switch is released or gripped, the lower unit stops.(7) After closing the door and then switching to Normal operating mode, the lower unit will restart.(8) If the door is opened while in Normal operating mode, the lower unit will stop.(9) The door is closed, and the lower unit restarts.(10) If the Emergency Stop Switch is pressed, the upper unit and lower unit will stop.
Guard Lock Door Switch S4
Enabling Switch S3
Emergency Stop Switch S1
Reset switch S2
Logical AND output L1
KM1, KM2 NC contact
KM1, KM2 NO contact
G9SX-BC202 (upper unit)
G9SX-GS226-T15 (lower unit)
Logical AND input T41
Reset switch S7
OFF-delay time OFF-delay time OFF-delay time OFF-delay time
(4) (6)
(7) (9)
(10)
(5)
(2)
(3) (8)
(1)
KM3, KM4 NC contact
KM5, KM6 NC contact
KM3, KM4 NO contact
KM5, KM6 NO contact
Mode selector input M2
Mode selector input M1
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4. Safety Measures for limited operations
34G9SX USER'S GUIDE
4-3 LCD Manufacturing (Guard Lock Control)When the Safety Limit Switch has confirmed that the hazard source is in a safe position, the Guard Lock Safety Door Switch will be unlocked.
Required Units
Unit Qty. Safety input to be applied Page
G9SX-BC 1 Emergency Stop Switch 39
G9SX-GS 1 Guard Lock Door Switch + Limit Switch 44
Guard Lock Door Switch
Guard LockSafety DoorSwitches
(2) Guard Lock Door Switch
(1) Emergency Stop Switch
(3) Safety Limit Switch
Safety Guard Switching UnitG9SX-GS
Motor
Contactor
Basic UnitG9SX-BC
Logical AND connection
(1) Emergency Stop Switch A22E
(3) Conveyor cart(2) Door
Emergency Stop Switch
Auto switching
When pressed, processing will stop.
When turned OFF at the same time, the machine will stop.
Safety Limit SwitchD4F
Limit Switch
4. Safety Measures for limited operations
G9SXUSER'S GUIDE 35
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■ Wiring ExampleSetup (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,
No OFF-delay time setting
Switching mode: Auto
Diagnostic check of Indicator: Enabled (UA only)
Wiring Example
S14A2 S24 L1 L2 X1 X2
T11A1 T12 T21 T22 T31 T32 T33 Y1
KM2
KM1
S2
12
11 21
22
+24V
KM1 KM2
M1
KM2
KM1
PLC etc.
S1
KM4
KM3
+24V
+24V
M2
KM4
KM3
KM4KM3
NC
NC
NCNC
Feedback Loop
Feedback Loop
G9SX-BC202
Control circuit
S14A2 S24 S44 S54 L1 X3X2X1 X4 UA
T11A1 T12 T21 Y1 Y3T22 T61 T62M1 M2 T71 Y2 Y4T72 T31 T32 T33 T41 T42OFF
AND
Auto
Manual
G9SX-GS226-T15
Control circuit
S5
S6
Limit SwitchLimit Switch
Limit Switch
Guard LockDoor Switch(Mechanical lock) S4
Conveyor cart
S7
+24V
GND
GND
UB
+24V
GND
OPEN
42
41
12
11
22
E1 E2
21
Door
Indicator (Diagnostic
check enabled)
Lock releaseswitch
S1 : Emergency Stop SwitchS2, S7 : Reset switchS3 : Lock release switchS4 : Guard Lock Door SwitchS5, S6 : Limit SwitchKM1 to KM4 : ContactorM1 to M2 : 3-phase motor
Note: This example corresponds to category 4.
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4. Safety Measures for limited operations
36G9SX USER'S GUIDE
■ Timing chart
(1) When the door is closed, operation is initiated with the reset switch.(2) The Limit Switch detects the conveyor cart and the lock release signal turns ON. (3) The door can be opened while the lock release switch pressed.(4) The door is closed again. (5) The conveyor cart moves.(6) The Limit Switch detects the conveyor cart, and the lock release signal turns ON.(7) The door can be opened while the lock release switch is pressed.(8) The conveyor cart moves while the door is open, and the lower unit stops.(9) The door is closed again. The lower unit remains stopped.(10) The reset switch is used to restart operation.(11) If the Emergency Stop Switch is pressed, the upper unit and lower unit will stop.
Emergency Stop Switch S1
Reset switch S2
Logical AND output L1
KM1, KM2 NC contact
KM1, KM2 NO contact
G9SX-BC202 (upper unit)
G9SX-GS226-T15 (lower unit)
Logical AND input T41
Reset switch S7
KM3, KM4 NC contact
KM3, KM4 NO contact
(6)(5)(1)
(3) (4) (9)
(10)
(11)
(2) (7) (8)Safety Limit Switch S5
Safety Limit Switch S6
Lock release signal
Lock release switch S1
Door can be opened.Door can be opened.
(External indicator output UA)
Guard Lock Door Switch S4
G9SXUSER'S GUIDE 37
Fu
nctio
ns o
f G9S
XS
ection
2
Section 2Functions of G9SX
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
38G9SX USER'S GUIDE
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1. Function list of G9SX-series
Function Model G9SX-BC G9SX-AD G9SX-ADA G9SX-NS G9SX-NSA G9SX-GS
Logical AND connections
Inputs --- ●●
(2 inputs)● ● ●
Outputs ● ● ● ● ● ●
Safety inputs
Emergency stop ● ● ● --- ● ---
Door switch ● ● ● --- ● ●
Non-contact door switch(D40A)
--- --- --- ● ● ---
Light curtain ● ● ● --- --- ●
Number of safety inputs 1 1 1 1 2 2
Safety outputs
Instantaneous outputs
2 3 2 2 2 2
OFF-delayed outputs
--- 2 2 --- 2 2
OFF-delay time ---0 to 15 s,0 to 150 s
0 to 15 s,0 to 150 s
--- 0 to 3 s 0 to 15 s
Expansion Unit connection
--- ● ● --- ● ●
Guard switching --- --- --- --- --- ●
G9SXUSER'S GUIDE 39
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2. Functions of each Unit
2-1 Basic UnitIt is possible to connect to other Units by using the logical AND connection output.
■ G9SX-BC@Safety Inputs
Safety Outputs (Semiconductor Outputs)
Logical AND Connections
Required Settings and Wiring
LED Indicators
Safety inputs 1 input (2-channel input)
Safety input devicesEmergency stop switch, door switch,light curtain
Instantaneous outputs 2 outputs
OFF-delayed outputs None
Number of inputs None
Number of outputs 2 outputs
Item G9SX-BC Page
Logical AND connection input enable/disable
--- ---
Cross fault detection mode ❍ 63
Reset mode ❍ 62
OFF-delay time --- ---
Switching mode --- ---
External indicator fault diagnosis mode
--- ---
Safety Input
Safety Instantaneous
Output
Logical AND Connection
Output
No.
T1 T2
FB
ERREI
PWR
L2L1S24S14A2X2T22T21
A1X1T12T11Y1T32 T33T31
G9SX-BC20224VDC
Marking Color Name
PWR Green Power supply indicator
T1 Orange Safety input #1 indicator
T2 Orange Safety input #2 indicator
FB Orange Feedback/reset input indicator
EI Orange Safety output indicator
ERR Red Error indicatorNo.
T1 T2
FB
ERREI
PWR
L2L1S24S14A2X2T22T21
A1X1T12T11Y1T32 T33T31
G9SX-BC20224VDC
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2. Functions of each Unit
40G9SX USER'S GUIDE
2-2 Advanced UnitThis Unit has safety OFF-delayed outputs and can be connected to other Units using the logical AND connection
input and output.
■ G9SX-AD@Safety Inputs
Safety Outputs (Semiconductor Outputs)
Note: The OFF-delayed outputs can be used as instantaneous outputs bysetting the OFF-delay time to 0 s.
Logical AND Connections
OFF-delay Time Setting
Required Settings and Wiring
LED Indicators
Safety inputs 1 input (2-channel input)
Safety input devicesEmergency stop switch, door switch, light curtain
Instantaneous outputs 3 outputs
OFF-delayed outputs 2 outputs
Number of inputs 1 input
Number of outputs 1 output
G9SX-AD322-T15-@ 0 to 15 s
G9SX-AD322-T150-@ 0 to 150 s
Item G9SX-AD Page
Logical AND connection input enable/disable
❍ 57
Cross fault detection mode ❍ 63
Reset mode ❍ 62
OFF-delay time ❍ 65
Switching mode --- ---
External indicator fault diagnosis mode
--- ---
Safety Input
Safety Instantaneous
Output
Safety OFF-delayed
Output
Logical AND Connection
Output
Logical AND Connection
Input
No.OFF-DELAY
0.50.4
0.30.2 15
10754
321.510.6
0.7
0
S54S44S34S24S14 L1A2T42T41T22T21
A1X2X1Y1T12T11T33T31
T1
ERR
EI
AND
FB
ED
T2
PWR
T32
G9SX-AD322-T1524VDC
Marking Color Name
PWR Green Power supply indicator
T1 Orange Safety input #1 indicator
T2 Orange Safety input #2 indicator
FB Orange Feedback/reset input indicator
AND Orange Logical AND input indicator
EI Orange Safety output indicator
ED OrangeOFF-delayed safety output indicator
ERR Red Error indicator
No.OFF-DELAY
0.50.4
0.30.2 15
10754
321.510.6
0.7
0
S54S44S34S24S14 L1A2T42T41T22T21
A1X2X1Y1T12T11T33T31
T1
ERR
EI
AND
FB
ED
T2
PWR
T32
G9SX-AD322-T1524VDC
2. Functions of each Unit
G9SXUSER'S GUIDE 41
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■ G9SX-ADA@Safety Inputs
Safety Outputs (Semiconductor Outputs)
Note: The OFF-delayed outputs can be used as instantaneous outputs bysetting the OFF-delay time to 0 s.
Logical AND Connections
OFF-delay Time Setting
Required Settings and Wiring
LED Indicators
Safety inputs 1 input (2-channel input)
Safety input devicesEmergency stop switch, door switch, light curtain
Instantaneous outputs 2 outputs
OFF-delayed outputs 2 outputs
Number of inputs 2 inputs
Number of outputs 2 outputs
G9SX-ADA222-T15-@ 0 to 15 s
G9SX-ADA222-T150-@ 0 to 150 s
Item G9SX-ADA Page
Logical AND connection input enable/disable
❍ 57
Cross fault detection mode ❍ 63
Reset mode ❍ 62
OFF-delay time ❍ 65
Switching mode --- ---
External indicator fault diagnosis mode
--- ---
Safety Input
Safety Instantaneous
Output
Safety OFF-delayed
Output
Logical AND Connection
Output
Logical AND Connection
Input
No.OFF-DELAY
0.50.4
0.30.2 15
10754
321.510.6
0.7
0
L1S54S44S24S14 L2A2T42T41T22T21
A1X2X1Y1T12T11T33T31
T1
ERR
EI
AND1
FB
ED
T2
PWR
T32 T52T51
G9SX-ADA222-T15024VDC
AND2
Marking Color Name
PWR Green Power supply indicator
T1 Orange Safety input #1 indicator
T2 Orange Safety input #2 indicator
FB Orange Feedback/reset input indicator
AND1 Orange Logical AND input indicator
AND2 Orange Logical AND input indicator
EI Orange Safety output indicator
ED OrangeOFF-delayed safety output indicator
ERR Red Error indicator
No.OFF-DELAY
0.50.4
0.30.2 15
10754
321.510.6
0.7
0
L1S54S44S24S14 L2A2T42T41T22T21
A1X2X1Y1T12T11T33T31
T1
ERR
EI
AND1
FB
ED
T2
PWR
T32 T52T51
G9SX-ADA222-T15024VDC
AND2
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2. Functions of each Unit
42G9SX USER'S GUIDE
2-3 Non-Contact Door Switch ControllerThis is a Special Controller for D40A Non-contact Door Switch. It can be connected to other Units using the logical
AND connection input and output.
■ G9SX-NS@Safety Inputs
Safety Outputs (Semiconductor Outputs)
Logical AND Connections
Required Settings and Wiring
LED Indicators
Safety inputs 1 input (2-channel input)
Safety input devices Non-contact door switch (D40A)
Instantaneous outputs 2 outputs
OFF-delayed outputs None
Number of inputs 1 input
Number of outputs 1 output
Item G9SX-NS Page
Logical AND connection input enable/disable
❍ 57
Cross fault detection mode --- ---
Reset mode ❍ 62
OFF-delay time --- ---
Switching mode --- ---
External indicator fault diagnosis mode
--- ---
D40A Input
Safety Instantaneous
Output
Logical AND Connection
Output
Logical AND Connection
Input
No.
NS
FB
ERR
AND
EI
PWR
D4L1S24S14A2X2T42T41
A1X1D2D1D3T32 T33T31
G9SX-NS20224VDC
Marking Color Name
PWR Green Power supply indicator
NS OrangeNon-contact Door Switch input indicator
FB Orange Feedback/reset input indicator
AND Orange Logical AND input indicator
EI OrangeInstantaneous safety output indicator
ERR Red Error indicator
No.
NS
FB
ERR
AND
EI
PWR
D4L1S24S14A2X2T42T41
A1X1D2D1D3T32 T33T31
G9SX-NS20224VDC
2. Functions of each Unit
G9SXUSER'S GUIDE 43
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■ G9SX-NSA@Safety Inputs
Safety Outputs (Semiconductor Outputs)
Note: The OFF-delayed outputs can be used as instantaneous outputs bysetting the OFF-delay time to 0 s.
Logical AND Connections
OFF-delay Time Setting
Required Settings and Wiring
LED Indicators
Safety inputs 2 inputs (each with 2 channels)
Safety input devicesNon-contact door switch (D40A), emergency stop switch, door switch
Instantaneous outputs 2 outputs
OFF-delayed outputs 2 outputs
Number of inputs 1 input
Number of outputs 1 output
G9SX-NSA222-T03-@ 0 to 3 s
Item G9SX-NSA Page
Logical AND connection input enable/disable
❍ 57
Cross fault detection mode ❍ 63
Reset mode ❍ 62
OFF-delay time ❍ 65
Switching mode --- ---
External indicator fault diagnosis mode
--- ---
D40A Input Safety Input
Safety Instantaneous
Output
Safety OFF-delayed
Output
Logical AND Connection
Output
Logical AND Connection
Input
No.OFF-DELAY
L1S54S44S24S14 D4A2T42T41T22T21
A1X2X1Y1T12T11T33T31
T1
ERR
EI
AND
FB
ED
T2
PWR
T32 D2 D3D1
G9SX-NSA222-T3024VDC
NS
0.50.4
0.30.2 3.0
2.52.01.8
1.41.21.00.90.8
0.60.7
0
Marking Color Name
PWR Green Power supply indicator
T1 Orange Safety input #1 indicator
T2 Orange Safety input #2 indicator
NS OrangeNon-contact Door Switch input indicator
FB Orange Feedback/reset input indicator
AND Orange Logical AND input indicator
EI OrangeInstantaneous safety output indicator
ED OrangeOFF-delayed safety output indicator
ERR Red Error indicator
No.OFF-DELAY
L1S54S44S24S14 D4A2T42T41T22T21
A1X2X1Y1T12T11T33T31
T1
ERR
EI
AND
FB
ED
T2
PWR
T32 D2 D3D1
G9SX-NSA222-T3024VDC
NS
0.50.4
0.30.2 3.0
2.52.01.8
1.41.21.00.90.8
0.60.7
0
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2. Functions of each Unit
44G9SX USER'S GUIDE
2-4 Safety Guard Switching UnitThis Unit can alternately enable two safety inputs. It can be used to construct safety systems for semi-automatic processing and maintenance work.
■ G9SX-GS@Safety Inputs
Safety Outputs (Semiconductor Outputs)
Note: The OFF-delayed outputs can be used as instantaneous outputs bysetting the OFF-delay time to 0 s.
Logical AND Connections
OFF-delay Time Setting
Required Settings and Wiring
Note: Carefully read the Precautions on pages 96 to 99 before configuring a system using the G9SX-GS.
LED Indicators
Safety inputs 2 inputs (each with 2 channels)
Safety input devices Door switch, light curtain
Instantaneous outputs 2 outputs
OFF-delayed outputs 2 outputs
Number of inputs 1 input
Number of outputs 1 output
G9SX-GS226-T15-@ 0 to 15 s
Item G9SX-GS Page
Logical AND connection input enable/disable
❍ 57
Cross fault detection mode ❍ 63
Reset mode ❍ 62
OFF-delay time ❍ 65
Switching mode ❍ 67
External indicator fault diagnosis mode
❍ 68
Safety InputSafety Input
Safety Instantaneous
Output
Safety OFF-delayed
Output
Logical AND Connection
Output
Logical AND Connection
Input
T31 T32 T33T11
Y1 M1 M2T12 T61 T62 Y2 Y3
T21 T22X1 X2 X3 X4 S14 S24
T72T71 T41 T42
24VDC
T1
ERR
G9SX-GS226-T15
EI
T6
FB
ED
UA
PWR
OFF-DELAY
UB
0.2 00.3
0.40.5
0.60.7 1 1.5 2 3
457
1015
T2
T7
AND
UA UBY4 A1
S44 S54L1 A2
No.
Marking Color Name
PWR Green Power supply indicator
T1 Orange Safety input A, channel 1 indicator
T2 Orange Safety input A, channel 2 indicator
T6 Orange Safety input B, channel 1 indicator
T7 Orange Safety input B, channel 2 indicator
FB Orange Feedback/reset input indicator
AND Orange Logical AND input indicator
EI Orange Safety output indicator
ED Orange OFF-delayed safety output indicator
UA Orange Safety input A disabled state indicator
UB Orange Safety input B disabled state indicator
ERR Red Error indicator
T31 T32 T33T11
Y1 M1 M2T12 T61 T62 Y2 Y3
T21 T22X1 X2 X3 X4 S14 S24
T72T71 T41 T42
24VDC
T1
ERR
G9SX-GS226-T15
EI
T6
FB
ED
UA
PWR
OFF-DELAY
UB
0.2 00.3
0.40.5
0.60.7 1 1.5 2 3
457
1015
T2
T7
AND
UA UBY4 A1
S44 S54L1 A2
No.
2. Functions of each Unit
G9SXUSER'S GUIDE 45
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FunctionsAuto Switching Function
Manual Switching Function
When the operator inserts the workpiece... While the robot processes the workpiece...
Safety Light Curtain A Safety Light Curtain BSafety Light Curtain A
monitors the robot.
The robot can continue
to operate as long as it
does not interrupt Safety
Light Curtain A.
Safety Light Curtain B
monitors the operator.
The robot can continue
to operate as long as the
operator does not
interrupt Safety Light
Curtain B.
Note: If the operator is able to completely enter the zone inside Safety Light Curtain B, a presence detection device, such as a Safety Mat, is necessary as an additional safety measure.
Autoswitching
• •
• •
During normal operation... During maintenance...
Door Switch Limit Switch
The Door Switch monitors
the opening and closing of
the door during normal
operation.
The machine is able to
operate while the door is
closed.
The Limit Switch monitors
the conveyor cart position
during maintenance.
The machine is able to
operate while the
conveyor cart is in a
specified area.
Manual switchingNormal operation Maintenance
•
•
•
•
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2. Functions of each Unit
46G9SX USER'S GUIDE
Auto Switching Function
1
2
3
4
ON
ONON ON
ON
ON
OFF
OFF
ON
OFF
OFF
OFF
ONON
ON
ONOFF
OFF
OFFOFF
OFF
(3) Safety Light Curtain B
(1) Emergency Stop Switch
(2) Safety Light Curtain A
(1) Emergency Stop Switch A22E
(2) Safety Light Curtain A (3) Safety Light Curtain B
Safety Light CurtainF3SJ
Safety Light CurtainF3SJ
Safety Guard Switching UnitG9SX-GS
Auxiliary Output
The auxiliary output can be used to notify operators of the input, output, or error status.
Programmable ControllersCS/CJ Series
External Indicator OutputThe external indicator output can be used to notify operators of Safety Light Curtains that may safely be interrupted.External
indicator BExternal indicator A
Contactor
Note: External indicator output may be used as necessary.
Basic UnitG9SX-BC
Logical AND connection
Saf
ety
Out
put
Robot
Moni-toring
Working condition G9SX-GSSafety input
External indicator
Safety input A
Safety input B
OK to work
Safety output
Safety output Monitor output External indicator
Input A monitor
Input B monitor
Input A monitor
Input B monitor
Input A monitor
Input B monitor
Input A monitor
Input B monitor
Safety input A
Safety input BSafety output
Safety input A
Safety input BSafety output
Safety input A
Safety input BSafety output
No
rmal
op
erat
ion
Haz
ardo
us c
ondi
tion
OK to work
Not OK to work
Not OK to work
Indicator A
Indicator B
Indicator A
Indicator B
Indicator A
Indicator B
Indicator A
Indicator B
Welding robot
Emergency Stop Switch
Conveying robot
Safety Light Curtain A
Safety Light Curtain B
Welding robot
Emergency Stop Switch
Conveying robot
Safety Light Curtain A
Safety Light Curtain B
Welding robot
Emergency Stop Switch
Conveying robot
Safety Light Curtain A
Safety Light Curtain B
Moni-toring
Welding robot
Emergency Stop Switch
Conveying robot
Safety Light Curtain A
Safety Light Curtain B
2. Functions of each Unit
G9SXUSER'S GUIDE 47
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Manual Switching Function
4
2
3
1
ON
ONOFF
ON
ON
OFF
ON
OFF
OFF
OFF
ONON
ONON
OFFOFF
OFF
Disa-bled
Disa-bled
Disa-bled
Disa-bled
Disa-bled
Basic UnitG9SX-BC
Logical AND connection
(1) Emergency Stop Switch A22E
(1) Emergency Stop Switch
(3) Safety Limit Switch
(2) Safety Door Switch
(4) Mode selector
Saf
ety
outp
ut
Safety Limit SwitchD4F
Key-type Selector Switch A22K
Safety Door SwitchD4NS
Safety Guard Switching UnitG9SX-GS
(2) Cover (3) Conveyor cart
Conveyor cart
(4) Mode selector
Auxiliary Output
The auxiliary output can be used to notify operators of the input, output, or error status.
External Indicator OutputThe external indicator output can be used to notify operators that the cover may be opened.
Contactor
Note: External indicator output may be used as necessary.
External indicator A
External indicator B
Programmable ControllersCS/CJ Series
Normal operating mode
Working condition G9SX-GSSafety input
External indicator
Safety input A
Safety input BSafety output
Safety output Monitor outputMode selector External indicator
Input A monitor
Input B monitor
Input A monitor
Input B monitor
Input A monitor
Input B monitor
Input A monitor
Input B monitor
Safety input A
Safety input BSafety output
Safety input A
Safety input BSafety output
Safety input A
Safety input BSafety output
No
rmal
op
erat
ion
Mai
nte
nan
ceH
azar
dous
con
ditio
n
Maintenance mode
Maintenance mode
Maintenance mode
Not OK to open
OK to open
OK to open
OK to open
Indicator A
Indicator B
Indicator B
Indicator A
Indicator B
Indicator A
Indicator B
Indicator A
Emergency Stop Switch
Mode selector
Limit Switch
Door Switch
Disa-bled
Moni-toring
Emergency Stop Switch
Mode selector
Limit Switch
Door Switch
Emergency Stop Switch
Mode selector
Limit Switch
Door Switch
Emergency Stop Switch
Mode selector
Limit Switch
Door Switch
Moni-toring
Disa-bled
Moni-toring
Disa-bled
Moni-toring
Disa-bled
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2. Functions of each Unit
48G9SX USER'S GUIDE
2-5 Expansion UnitBy connecting an Expansion Unit to the G9SX-AD/ADA, G9SX-NSA, or G9SX-GS, safety relay contact outputs can
be added that are synchronized with the safety outputs of the Unit to which the Expansion Unit is connected.
■ G9SX-EX-@Safety Outputs (Safety Relay Outputs)
Logical AND Connections
Required Settings and Wiring
Note: Refer to 2-10 Connecting Expansion Units on page 69.
LED Indicators
Instantaneous outputs 4 outputs
OFF-delayed outputs None
Number of inputs None
Number of outputs None
Item G9SX-EX Page
Logical AND connection input enable/disable
--- ---
Cross fault detection mode --- ---
Reset mode --- ---
OFF-delay time --- ---
Switching mode --- ---
External indicator fault diagnosis mode
--- ---
G9SX-ADG9SX-ADAG9SX-NSAG9SX-GSG9SX-EX
G9SX-EX
Insert theconnector
Insert theconnector
Safety Instantaneous
Output
Marking Color Name
PWR Green Power supply indicator
EI Orange Safety output indicator
ERR Red Error indicator
PWR
EI
ERR
2. Functions of each Unit
G9SXUSER'S GUIDE 49
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■ G9SX-EX-T@Safety Outputs (Safety Relay Outputs)
Logical AND Connections
Required Settings and Wiring
Note: 1. The OFF-delay time on G9SX-EX-T is set from the OFF-delaypreset time on the connected unit (G9SX-AD/-ADA/-NSA/-GS).
2. Refer to 2-10 Connecting Expansion Units on page 69.
LED Indicators
Instantaneous outputs None
OFF-delayed outputs 4 outputs
Number of inputs None
Number of outputs None
Item G9SX-EX-T Page
Logical AND connection input enable/disable
--- ---
Cross fault detection mode --- ---
Reset mode --- ---
OFF-delay time --- (See note) 65
Switching mode --- ---
External indicator fault diagnosis mode
--- ---
G9SX-ADG9SX-ADAG9SX-NSAG9SX-GSG9SX-EX
G9SX-EX
Insert theconnector
Insert theconnector
Safety OFF-delayed
Output
G9SX-EX041-T
Marking Color Name
PWR Green Power supply indicator
ED OrangeOFF-delayed safety output indicator
ERR Red Error indicator
PWR
ED
ERR
G9SX-EX041-T
MEMO
50G9SX USER'S GUIDE
G9SXUSER'S GUIDE 51
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Section 3
Wiring and Setup
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
52G9SX USER'S GUIDE
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1. I/O Terminals
1-1 Basic Unit
G9SX-BC
Note: 1. Internal power supply circuit is not isolated.2. Outputs S14 and S24 are internally redundant.
Signal name Terminal name Wiring
Power supply inputs A1, A2
Connect the power supply plus (24 VDC) to the A1 terminal.Connect the power supply minus (GND) to the A2 terminal.
Safety inputs T11, T12, T21, T22Refer to 2-4 Cross Fault Detection and 2-5 Connecting Safety Sensors and the G9SX.
Feedback/reset inputs T31, T32, T33 Refer to 2-3 Reset Mode.
Cross fault detection input Y1 Refer to 2-4 Cross Fault Detection.
Instantaneous safety outputs S14, S24 Keep these outputs open when they are not used.
Logical AND connection output L1, L2 Refer to 2-1 Logical AND Connection.
Auxiliary monitor outputs X1, X2 Keep these outputs open when they are not used.
(See note 1.)
Reset/Feedback Input
Crossfault
detectioninput
S14A2 S24 L1 L2 X1 X2
Power supply circuit
Safety Input 1
SafetyInput 2
Safety outputs control Auxiliary outputs control
T11A1 T12 T21 T22 T31 T32 T33 Y1
(See note 2.)
1. I/O Terminals
G9SXUSER'S GUIDE 53
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1-2 Advanced Unit
G9SX-AD
Note: 1. Internal power supply circuit is not isolated.2. Logical AND input is isolated.3. Outputs S14 to S54 are internally redundant.
G9SX-ADA
Note: 1. Internal power supply circuit is not isolated.2. Logical AND input is isolated.3. Outputs S14 to S54 are internally redundant.
Signal name Terminal name Wiring
Power supply inputs A1, A2
Connect the power supply plus (24 VDC) to the A1 terminal.Connect the power supply minus (GND) to the A2 terminal.
Safety inputs T11, T12, T21, T22Refer to 2-4 Cross Fault Detection and 2-5 Connecting Safety Sensors and the G9SX
Feedback/reset inputs T31, T32, T33 Refer to 2-3 Reset Mode.
Logical AND connection inputs T41, T42, T51, T52 Refer to 2-1 Logical AND Connection.
Cross fault detection input Y1 Refer to 2-4 Cross Fault Detection.
Instantaneous safety outputs S14, S24, S34 Keep these outputs open when they are not used.
OFF-delayed safety outputs S44, S54 Keep these outputs open when they are not used.
Logical AND connection output L1, L2 Refer to 2-1 Logical AND Connection.
Auxiliary monitor outputs X1, X2 Keep these outputs open when they are not used.
(See note 1.) (See note 2.)
S14A2 S24 S34 S44 S54 L1 X1 X2
Power supply circuit
Safety Input 1
Safety Input 2
Reset/Feedback Input
Cross fault
detection input
Safety output control Auxiliary output control
Logical AND input
Expansion Unit output control
T11A1 T12 T21 T22 T31 T32 T33 Y1 T41 T42
(See note 3.)
(See note 1.)
(See note 2.)
S14A2 S24 S44 S54 L1 L2 X1 X2
Power supply circuit
Safety Input 1
Safety Input 2
Reset/Feedback Input
Cross fault
detection input
Safety output control Auxiliary output control
Logical AND input
Expansion Unit output control
T11A1 T12 T21 T22 T31 T32 T33 Y1 T41 T42
(See note 3.)
T51 T52
Logical AND input 2
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1-3 Non-contact Door Switch Controller
G9SX-NS
Note: 1. Internal power supply circuit is not isolated.2. Logical AND input is isolated.3. Outputs S14 to S24 are internally redundant.
G9SX-NSA
Note: 1. Internal power supply circuit is not isolated.2. Logical AND input is isolated.3. Outputs S14 to S54 are internally redundant.
Signal name Terminal name Wiring
Power supply inputs A1, A2
Connect the power supply plus (24 VDC) to the A1 terminal.Connect the power supply minus (GND) to the A2 terminal.
Safety inputs T11, T12, T21, T22Refer to 2-4 Cross Fault Detection and 2-5 Connecting Safety Sensors and the G9SX.
Non-contact Door Switch (D40A) inputs D1, D2, D3, D4 Refer to 2-7 Non-contact Door Switch.
Feedback/reset inputs T31, T32, T33 Refer to 2-3 Reset Mode.
Logical AND connection inputs T41, T42 Refer to 2-1 Logical AND Connection.
Cross fault detection input Y1 Refer to 2-4 Cross Fault Detection.
Instantaneous safety outputs S14, S24 Keep these outputs open when they are not used.
OFF-delayed safety outputs S44, S54 Keep these outputs open when they are not used.
Logical AND connection output L1 Refer to 2-1 Logical AND Connection.
Auxiliary monitor outputs X1, X2 Keep these outputs open when they are not used.
(See note 3.)
(See note 2.)
Logical AND input
Safety output controlAuxiliary
output control
Reset/FeedbackInput
Non-contact Door Switch control
Power supply circuit (See note 1.)
D1 D2
X1L1A2 X2S24S14
D3 D4 T31 T32 T33 T41 T42A1 A1
A2
T11
S14 S24 S44 S54 L1 X1 X2
T12 T21 T22 T31 T32 T33 Y1 D1 D2 D3 D4 T41 T42
Power supply circuit (See note 1.)
(See note 3.)
Safety input 1
Safety output controlAuxiliary output control
Expansion Unit output control
Safety input 2
Reset/Feedback Input
Cross fault detection input
Logical AND input
(See note 2.)
Non-contact Door Switch control
1. I/O Terminals
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1-4 Safety Guard Switching Unit
G9SX-GS
Note: 1. Internal power supply circuit is not isolated.2. Logical AND input is isolated.3. Outputs S14 to S54 and L1 are internally redundant.
Signal name Terminal name Wiring
Power supply inputs A1, A2
Connect the power supply plus (24 VDC) to the A1 terminal.Connect the power supply minus (GND) to the A2 terminal.
Safety inputs A T11, T12, T21, T22 Refer to 2-4 Cross Fault Detection and 2-5 Connecting Safety Sensors and the G9SX.Safety inputs B T61, T62, T71, T72
Mode switching inputs M1, M2 Refer to 2-8 Switching Mode.
Feedback/reset inputs T31, T32, T33 Refer to 2-3 Reset Mode.
Logical AND connection inputs T41, T42 Refer to 2-1 Logical AND Connection.
Cross fault detection inputs Y1, Y2 Refer to 2-4 Cross Fault Detection.
Instantaneous safety outputs S14, S24 Keep these outputs open when they are not used.
OFF-delayed safety outputs S44, S54 Keep these outputs open when they are not used.
Logical AND connection output L1 Refer to 2-1 Logical AND Connection.
Auxiliary monitor outputs X1, X2, X3, X4 Keep these outputs open when they are not used.
External indicator outputs UA, UB Refer to 2-9 External Indicator Fault Diagnosis.
External indicator diagnosis switching inputs
Y3, Y4 Refer to 2-9 External Indicator Fault Diagnosis.
(Seenote2.)
S14A2 S24 S44 S54 L1 X1 X2 X3 X4 UA UB
Safety output control Auxiliary output control Expansion Unitoutput control
T11A1 T12 T21 T22 Y1 M1 M2 T61 T62 T71 T72 Y2 Y3 Y4 T31 T32 T33 T41 T42
Logical AND input
Reset/feedback input
External indicator diagnosis
switching input
Safety input BCh. 2
Safety input BCh. 1
Mode selector input
Safety input ACh. 2
Safety input ACh. 1
External indicator output control
Powersupplycircuit(Seenote 1.)
(See note 3.)
Cross fault
detection input B
Cross fault
detection input A
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1-5 Expansion Unit
Note: The safety outputs are instantaneous safety outputs for the G9SX-EX401, and OFF-delayed safety outputs for the G9SX-EX041-T.
G9SX-EX401/G9SX-EX041-T
Note: 1. Internal power supply circuit is not isolated.2. Relay outputs are isolated.
Signal name Terminal name Wiring
Power supply inputs A1, A2
Connect the power supply plus (24 VDC) to the A1 terminal.Connect the power supply minus (GND) to the A2 terminal.
Safety outputs (See note.) 13-14, 23-24, 33-34, 43-44 Keep these outputs open when not used.
A2 X2
Power supply circuit Auxiliary
output control
Safety output control
A1
K1
13 23 33 43
14 24 34 44
K2
Exp. sig.IN
Exp.sig.
OUT
(See note 1.) (See note 2.)
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2. Functions, Wiring and Settings
2-1 Logical AND ConnectionWhen connecting two or more Units using a logical AND connection, the logical AND connection setting is
performed on the Unit on the input side. Set the logical AND connection preset switch on the Unit that is on the input
side (G9SX-AD322 in the below diagram) to AND.
1. When the G9SX-AD/-NS/-NSA/-GS Is on the Input Side
Note: 1. In the above diagram, a setting error will occur and G9SX-AD322 will set a lock out if the logical AND setting switch on G9SX-AD322 is set to OFF.Set the switch carefully.
2. Set the logical AND setting switch on Unit A to OFF.3. A logical AND input cannot be input to the G9SX-BC.
2. When the G9SX-ADA Is on the Input Side
Note: 1. When not connecting Unit B, leave terminals T41 and T42 of the G9SX-ADA222 Unit open, and set the logical AND setting switch T41/T42 to OFF.2. When not connecting Unit C, leave terminals T51 and T52 of the G9SX-ADA222 Unit open, and set the logical AND setting switch to OFF.
When connecting multiple Units to the input side, follow the wiring example in the following diagram.
Note: When a logical AND connection is not used, keep the logical AND connection inputs (terminals T41, T42, T51, and T52) and logical AND connectionoutputs (terminals L1 and L2) open, and set the logical AND setting switch to OFF.
G9SX-AD322
Unit A
L1 A2
T41 T42
AND
OFF
AND
OFF
G9SX-ADA222
Unit B
L1 A2
T41 T42
Unit C
L1 A2
T51 T52
T41/T42 T51/T52
AND
OFF
AND
OFF
AND
OFF
AND
OFF
G9SX-BC202 orG9SX-AD322-T
L1 A2
G9SX-AD322-T
L1
T41 T42
A2
A2
G9SX-AD322-T
Logical AND connection signal(1st stage)
Logical AND connection signal(2nd stage) Next unit (4 unit max.)
Next unit (5 layers max.)
T41 T42
G9SX-AD322-T
L1
T41 T42
Next unit (4 unit max.)
Input b
Input a
Output (a)
Output (a&b)
Unit B
Unit A
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58G9SX USER'S GUIDE
3. Logical AND Connection Combinations(1 ) One logical AND connection output from an Advanced Unit G9SX-AD can be logical AND connected to up to
four Advanced Units.
(2 ) Two logical AND outputs from a Basic Unit G9SX-BC can be logical AND connected to up to eight Advanced
Units.
(3 ) Two logical AND outputs from an Advanced Unit G9SX-ADA can be logical AND connected to up to eight
Advanced Units.
(4 ) Any Advanced Unit with logical AND input can be logical AND connected to Advanced Units on up to five tiers.
G9SX-AD
G9SX-ADG9SX-ADG9SX-ADG9SX-AD
G9SX-BC
G9SX-AD
G9SX-ADG9SX-ADG9SX-ADG9SX-AD
G9SX-AD G9SX-AD G9SX-AD
G9SX-AD
G9SX-ADG9SX-ADG9SX-ADG9SX-AD
G9SX-ADA
G9SX-AD G9SX-AD G9SX-AD
Advanced Unitor Basic Unit
G9SX-AD
G9SX-AD
G9SX-AD
G9SX-AD
2. Functions, Wiring and Settings
G9SXUSER'S GUIDE 59
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(5 ) Two logical AND connection outputs, each from different Advanced/Basic Units, can be logical AND connected
to a single G9SX-ADA Unit.
(6 ) The largest possible system configuration contains a total of 20 Advanced and Basic Units. In this configuration,
each Advanced Unit can have up to five Expansion Units.
Note: The section on Advanced Units, above, can also be replaced with G9SX-NS/-NSA/-GS.
G9SX-BC G9SX-BC
G9SX-ADA
Number of Units connected per logical AND output:4 Units max.
Total number of Units connected by logical AND: 20 Units max.
Number of Units connected in series by logical AND:5 Units max.
Note 1: Basic Unit = G9SX-BC Advanced Unit = G9SX-AD or G9SX-ADANote 2: The G9SX-AD322-T-@ has only one logical AND output.
Advanced Unitor Basic Unit
Advanced UnitAdvanced Unit Advanced Unit Advanced Unit
Advanced Unit Advanced Unit Advanced Unit Advanced Unit
Advanced Unit Advanced Unit Advanced Unit
Advanced Unit Advanced Unit Advanced Unit Advanced Unit
Advanced Unit Advanced Unit Advanced Unit
Advanced Unit
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60G9SX USER'S GUIDE
2-2 Response Time and Operation Time(1) G9SX-BC
(2) G9SX-AD/ADA
(3) G9SX-NS
(4) G9SX-NSA
Note: 1. The maximum response time is the time it takes the output to turn OFF after the input turns OFF.2. The maximum operating time is the time it takes the output to turn ON after the input turn ON.
Safety input Max. response time (excluding Expansion Units)
(See note 1.)
Max. operating time (excluding Expansion Units)
(See note 2.)
Safety input 15 ms 50 ms
Safety inputD4NS
Logical ANDconnection input
Max. response time (excluding Expansion Units)
(See note 1.)
Max. operating time (excluding Expansion Units)
(See note 2.)
Safety input 15 ms 50 ms
Logical AND connection input
15 ms 100 ms
Non-contact DoorSwitch inputD40A
Logical ANDconnection input
Max. response time (excluding Expansion Units)
(See note 1.)
Max. operating time (excluding Expansion Units)
(See note 2.)
Non-contact Door Switch input
20 ms 100 ms
Logical AND connection input
15 ms 100 ms
Safety InputD4NS
Logical ANDconnection input
Non-contact DoorSwitch inputD40A
Max. response time (excluding Expansion Units)
(See note 1.)
Max. operating time (excluding Expansion Units)
(See note 2.)
Non-contact Door Switch input
20 ms 100 ms
Safety input 15 ms 50 ms
Logical AND connection input
15 ms 100 ms
2. Functions, Wiring and Settings
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(5) G9SX-GS
Note: 1. The maximum response time is the time it takes the output to turn OFF after the input turns OFF.2. The maximum operating time is the time it takes the output to turn ON after the input turn ON.3. The maximum response time exists when safety input A or safety input B is enabled.
(6) When two or more Units are connected using a logical AND connection.
Safety Input BD4NS
Logical ANDconnection input
Safety Input AD4NS
Max. response time (excluding Expansion Units)
(See note 1.)
Max. operating time (excluding Expansion Units)
(See note 2.)
Safety input A 15 ms (See note 3.) 50 ms
Safety input B 15 ms (See note 3.) 50 ms
Logical AND connection input
15 ms 100 ms
D40A
Safety Output (2)
Safety Output (3)
Logical ANDConnection
(2)
Logical ANDConnection
(1)
Safety InputD4NS (1)
Safety InputD4NS (2)
Safety Output (1)
Safety InputA22E
Case 1
Response Time from When A22E Turns OFF until Safety Output 2
Turns OFF
Case 2
Response Time from When D40A Turns OFF until Safety Output 3
Turns OFF
Case 3
Response Time from When A22E Turns OFF until Safety Output 3
Turns OFF
Note: The operation time is calculated in a similar fashion.
15 ms + 15 ms = 30 ms(A22E) (Logical AND
Connection (1))
20 ms + 15 ms = 35 ms(D40A) (Logical AND
Connection (2))
15 ms + 15 ms + 15 ms = 45 ms(A22E) (Logical AND
Connection (1))
(Logical AND
Connection (2))
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62G9SX USER'S GUIDE
2-3 Reset ModeSet the reset mode using feedback/reset input terminals T31, T32, and T33.
Reset mode Wiring Function summary
Auto reset mode
The signal to terminal T33 must be ON for the safety output to turn ON.If terminal T33 is not ON, the safety output will not turn ON.
Manual reset mode
The signal to terminal T32 must turn ON and then OFF for the safety output to turn ON.If terminal T32 does not turn ON and then OFF, the safety output will not turn ON.
+24 V
KM1
KM2
KM3
KM4
KM5
T33T32T31
Feedback Loop
KM1
KM2
KM3
KM4
KM5
T33T32T31
Feedback Loop
+24 V
Reset switch
2. Functions, Wiring and Settings
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2-4 Cross Fault DetectionThe cross fault detection setting for the safety input is made using the cross fault detection input (terminals Y1 and
Y2).
If a fault is detected, the following will occur.
1. The safety outputs and logical AND outputs will be locked out.
2. The LED error indicator will be lit.
3. The error output (auxiliary output) will turn ON.
For wiring, refer to the following description.
(1 ) Cross Fault between T11-T12 and T21-T22
Cross fault detection mode Cross fault detection input
ON Open
OFF Connect to +24 V
Cross fault detection input Safety input to be monitored Function summary
Terminal Y1 Terminals T11-T12 and T21-T22 Detects cross faults across T11-T12 and T21-T22
Terminal Y2 Terminals T61-T62 and T71-T72 Detect cross faults in T61-T62 and T71-T72
Cross faultdetection
Wiring
OFF
Corresponds to Safety Category 2
Corresponds to Safety Category 3
ONCorresponds to
Safety Category 4
Y1T22T21T12T11
S1
+24 V
+24 V
Y1T22T21T12T11
S1
+24 V
+24 V +24 V
NCY1T22T21T12T11
S1
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64G9SX USER'S GUIDE
2-5 Connecting Safety Sensors and the G9SX(1 ) When connecting safety sensors to the G9SX, the Y1 terminal must be connected to 24 VDC.
The G9SX will detect a connection error, if the Y1 terminal is open.
(2 ) In many cases, safety sensor outputs include an OFF-shot pulse for self diagnosis.
The following condition of test pulse is applicable as safety inputs for the G9SX.
• OFF-shot pulse width of the sensor, during the ON-state: 340 μs max.
340 µs max.
2. Functions, Wiring and Settings
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2-6 OFF-delay TimeThe safety output preset time is set using the OFF-delay time preset switch (1 each on the front and back of the
Unit).
Note: 1. Normal operation will occur only if both switches are set to the same setting.An error will occur if both switches are not identically set.
2. If the preset time is set to 0 seconds, the output function as an instantaneous safety output.
Refer to the following illustration for details on setting switch positions.
1. G9SX-AD322-T15
2. G9SX-AD322-T150
Front Back
Switch
Switch
OFF-DELAY
0.50.4
0.30.2 15
10754
321.510.6
0.7
0
OFF-DELAY
0.50.4
0.30.2 15
10754
321.510.6
0.7
0
Notch
Example 2: 1-second OFF-delay setting
Example 1: 0-second OFF-delay setting
4030
2010 150
140130120110
10090807050
60
0
4030
2010 150
140130120110
10090807050
60
0
OFF-DELAY OFF-DELAYNotch
Example 1: 0-second OFF-delay setting
Example 2: 70-second OFF-delay setting
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66G9SX USER'S GUIDE
2-7 Non-contact Door SwitchExample: Wiring a Single Switch
Note: The auxiliary output load current must be 10 mA max.
Example: Wiring Multiple SwitchesConnect Up to 30 Non-contact Door Switches.
Wiring of Inputs and Outputs
Signal name Wire color Description of operation
Non-contact Door Switch power supply input
Brown Supplies power to the D40A.Connect to the D3 and D4 terminals of the [email protected]
Non-contact Door Switch input WhiteInputs signals from the [email protected] Non-contact Door Switch input must be ON as a required condition for the Non-contact Door Switch output to be ON.
Non-contact Door Switch output
BlackTurns ON and OFF according to actuator detection and the status of the Non-contact Door Switch input.
Auxiliary output Yellow Turns ON when actuator is detected.
Bla
ck
Bro
wn
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te
Blu
e
Yello
w
G9SX-NS202-@G9SX-NSA222-T03-@
Auxiliary output load(See note.)
D40A-1C@
D1 D2 D3 D4 A2
G9SX-NS202-@G9SX-NSA222-T03-@
D1 D2 D3 D4
Bla
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e
Bla
ck
Bro
wn
Whi
te
Blu
e
Bla
ck
Bro
wn
Whi
te
Blu
e
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2-8 Switching ModeThe switching mode is set by using the Switching Function setting switch on the bottom of the G9SX Unit. Set the
switch to Auto for auto switching and Manual for manual switching.
For manual switching, connect the mode selector as shown in the following table.
Switching Mode Switching Function setting switch Mode selector connection
Auto switching
Manual switching
M1 ON, M2 OFF: Normal operating modeM1 OFF, M2 ON: Maintenance mode
Manual
AutoM2M1
NCNC
Manual
Auto M2M1
+24V
Maintenancemode
Normaloperatingmode
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68G9SX USER'S GUIDE
2-9 External Indicator Fault DiagnosisDiagnostic checks of external indicators connected to the G9SX-GS's external indicator outputs UA and UB can be
switched with Y3 and Y4, respectively.
Note: 1. If there is no indicator connected to external indicator output UA, connect Y3 to 24 V. If there is no indicator connected to external indicator outputUB, connect Y4 to 24 V. If they are not connected to 24 V, the G9SX-GS will detect an error.
2. Diagnostic checks cannot be made for LED indicators. Disable the diagnostic check if using LED indicators.
External indicator output
Diagnostic check enabled Diagnostic check disabled
UA
UB
NC
Y3
UA
Indicator
+24V
Indicator
Y3
UA
NC
Y4
UB
Indicator
+24V
Indicator
Y4
UB
2. Functions, Wiring and Settings
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2-10 Connecting Expansion Units• G9SX-EX/G9SX-EX-T Expansion Units can be connected to the G9SX-AD/-ADA Advanced Unit, G9SX-NSA
Non-contact Door Switch Controller, or G9SX-GS Safety Guard Switching Unit to increase the number of safety
outputs. (Expansion Units cannot be connected to the G9SX-BC or to the G9SX-NS Non-contact Door Switch
Controller.)
• A maximum of five Expansion Units can be connected to one Advanced Unit. This may be a combination of
G9SX-EX Instantaneous types and G9SX-EX-T OFF-delayed types.
• Remove the end connector from the Unit (G9SX-AD, G9SX-ADA, G9SX-NSA, or G9SX-GS) and insert the
connector on the Connecting Cable from the first Expansion Unit. Place the end connector that was removed from
the Unit on the last Expansion Unit (i.e., the rightmost Expansion Unit).
• When Expansion Units are connected to an Advanced Unit, make sure that power is supplied to every Expansion
Unit. (Refer to the following diagram for actual Expansion Unit connection.)
Expansion Unit
Terminatingconnector
Advanced UnitG9SX-AD/-ADA/-NSA/-GS
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2-11 Confirming Settings
Settings for the G9SX can be checked by the orange indicators for approx. 3 seconds after the power is turned ON.
During this settings indication period, the ERR indicator will light, however the auxiliary error output will remain OFF.
G9SX-AD/-ADA/-BC/-NS/-NSA
Note: Except for the G9SX-BC and G9SX-NS.
G9SX-GS
Indicator Item Setting positionIndicator
statusSetting mode Setting status
T1Cross fault detection mode
Y1 terminalLit Detection mode Y1 = open
Not lit Non-detection mode Y1 = 24 VDC
FB Reset modeT33 or T32 terminal
Lit Manual reset mode T33 = 24 VDC
Not lit Auto reset mode T32 = 24 VDC
AND (AND1, AND2)
Logical AND connection input mode (See note.)
Logical AND connection preset switch
Lit Enable logical AND input "AND"
Not lit Disable logical AND input "OFF"
Indicator Item Setting positionIndicator
statusSetting mode Setting status
T1Cross fault detection mode for safety input A
Y1 terminalLit Enabled Y1 = open
Not lit Disabled Y1 = 24 VDC
T6Cross fault detection mode for safety input B
Y2 terminalLit Enabled Y2 = open
Not lit Disabled Y2 = 24 VDC
FB Reset modeT33 or T32 terminal
Lit Manual reset mode T33 = 24 VDC
Not lit Auto reset mode T32 = 24 VDC
ANDLogical AND connection input mode
Logical AND connection preset switch
Lit Enabled "AND"
Not lit Disabled "OFF"
UA, UB Switching FunctionSwitching Function setting switch
Lit Manual switching "Manual"
Not lit Auto switching "Auto"
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Section 4Ratings and
Specifications
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
72G9SX USER'S GUIDE
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1. Ratings
1-1 Advanced Unit/Basic UnitPower input
Note: Power consumption of loads not included.
Inputs
Note: Provide a current equal to or higher than that of the minimum applicable load of the connected input control device.
Outputs
Note: 1. While safety outputs are in the ON state, the following signal sequence is output continuously for diagnosis. When using the safety outputs as inputsignals to control devices (i.e. Programmable Controllers), consider the OFF pulse shown below.
2. The following derating is required when Units are mounted side-by-side. G9SX-AD322-@/G9SX-ADA222-@/G9SX-BC202-@: 0.4 A DC max. load current
Item Model G9SX-AD322-@/ADA222-@ G9SX-BC202-@
Rated supply voltage 24 VDC
Operating voltage range −15% to 10% of rated supply voltage
Rated power consumption (See note.) 4 W max. 3 W max.
Item Model G9SX-AD322-@/ADA222-@ G9SX-BC202-@
Safety inputOperating voltage: 20.4 VDC to 26.4 VDC, internal impedance: approx. 2.8 kΩ (See note.)
Feedback/reset input
Item Model G9SX-AD322-@/ADA222-@ G9SX-BC202-@
Instantaneous safety output(See note 1.)OFF-delayed safety output(See note 1.)
P channel MOS FET transistor outputLoad current:
Using 2 outputs or less: 1 A DC max. (See note 2.)Using 3 outputs or more: 0.8 A DC max.
P channel MOS FET transistor outputLoad current:
Using 1 output: 1 A DC max. (See note 2.)Using 2 outputs: 0.8 A DC max.
Auxiliary outputPNP transistor outputLoad current: 100 mA max.
ON
OFF
Approx. 100 ms
360 µs max.
1. Ratings
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1-2 Non-contact Door Switch ControllerPower input
Note: Power consumption of loads not included.
Inputs
Note: 1. Only applies to the G9SX-NSA222-T03-@. Refers to input other than that from the Non-contact Door Switch.2. Provide a current equal to or higher than that of the minimum applicable load of the connected input control device.
Outputs
Note: 1. While safety outputs are in the ON state, the following signal sequence is output continuously for diagnosis.When using the safety outputs as input signals to control devices (i.e. Programmable Controllers), consider the OFF pulse shown below.
2. The following derating is required when Units are mounted side-by-side.G9SX-NS202-@/G9SX-NSA222-T03-@: 0.4 A DC max. load current
3. Apply the following rated load conditions for inductive loads.IEC/EN 60947-5-1 DC13: 0.8 AUL508 Pilot Duty: 0.5 A
Item Model G9SX-NS202-@ G9SX-NSA222-T03-@
Rated supply voltage 24 VDC
Operating voltage range −15% to 10% of rated supply voltage
Rated power consumption (See note.) 3 W max. 4 W max.
Item Model G9SX-NS202-@/G9SX-NSA222-T03-@
Safety input (See note 1.)Operating voltage: 20.4 VDC to 26.4 VDC, internal impedance: approx. 2.8kΩ (See note 2.)
Feedback/reset input
Item Model G9SX-NS202-@/G9SX-NSA222-T03-@
Instantaneous safety output(See note 1.)OFF-delayed safety output(See note 1.)
P channel MOS FET transistor outputLoad current: 0.8 A DC max. (See note 2 and 3.)
Auxiliary outputPNP transistor outputLoad current: 100 mA max.
ON
OFF
360 µs max.
Approx.100 ms
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1. Ratings
74G9SX USER'S GUIDE
1-3 Safety Guard Switching UnitPower Input
Note: Power consumption of loads not included.
Inputs
Note: Provide a current equal to or higher than that of the minimum applicable load of the connected input control device.
Outputs
Note: 1. While safety outputs are in the ON state, the following signal sequence is output continuously for diagnosis. When using the safety outputs as input signals to control devices (i.e. Programmable Controllers), consider the OFF pulse shown below.
2. The following derating is required when Units are mounted side-by-side. G9SX-GS226-T15-@: 0.4 A DC max. load current
3. Apply the following rated load conditions for inductive loads.IEC/EN 60947-5-1 DC13: 0.8 AUL508 Pilot Duty: 0.5 A
Item Model G9SX-GS226-T15-@
Rated supply voltage 24 VDC
Operating voltage range −15% to 10% of rated supply voltage
Rated power consumption (See note.) 5 W max.
Item Model G9SX-GS226-T15-@
Safety inputs
Operating voltage: 20.4 VDC to 26.4 VDC, Internal impedance: Approx. 2.8 kΩ (See note.)Mode selector input
Feedback/reset input
Item Model G9SX-GS226-T15-@
Instantaneous safety outputs(See note 1.)OFF-delayed safety outputs(See note 1.)
P channel MOS FET transistor outputsLoad current: 0.8 A DC max. (See note 2 and 3.)
Auxiliary outputs(for input, output, and error monitoring)
PNP transistor outputsLoad current: 100 mA max.
External indicator outputs
P channel MOS FET transistor outputsConnectable indicators• Incandescent lamp: 24 VDC, 3 to 7 W• LED lamp: 10 to 300 mA DC
ON
OFF
360 µs max.
Approx.100 ms
1. Ratings
G9SXUSER'S GUIDE 75
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1-4 Expansion UnitPower Input
Note: Power consumption of loads not included.
Outputs
Item Model G9SX-EX-@
Rated supply voltage 24 VDC
Operating voltage range −15% to 10% of rated supply voltage
Rated power consumption (See note.) 2 W max.
Item Model G9SX-EX-@
Rated load 250 VAC, 3 A / 30 VDC, 3 A (resistive load)
Rated carry current 3 A
Maximum switching voltage 250 VAC, 125 VDC
76G9SX USER'S GUIDE
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2. Characteristics
2-1 Advanced Unit/Basic Unit
Note: 1. When two or more Units are connected by logical AND, the operating time and response time are the sum total of the operating times and responsetimes, respectively, of all the Units connected by logical AND.
2. Represents the operating time when the safety input turns ON with all other conditions set.3. Represents the operating time when the logical AND input turns ON with all other conditions set.4. For the G9SX-@-RT (with screw terminals) only.
Item Model G9SX-AD322-@/ADA222-@ G9SX-BC202-@
Over-voltage category (IEC/EN 60664-1) II
Operating time (OFF to ON state)(See note 1.)
50 ms max. (Safety input: ON) (See note 2.)100 ms max. (Logical AND connection input: ON) (See note 3.)
50 ms max. (Safety input: ON)
Response time (ON to OFF state)(See note 1.)
15 ms max.
ON-state residual voltage 3.0 V max. (safety output, auxiliary output)
OFF-state leakage current 0.1 mA max. (safety output, auxiliary output)
Maximum wiring length of safety input and logical AND input
100 m max.(External connection impedance: 100 Ω max. and 10 nF max.)
Reset input time (Reset button pressing time)
100 ms min.
Accuracy of OFF-delay time Within ± 5% of the set value ---
Insulation resistance
Between logical AND connection terminals, and power supply input terminals and other input and output terminals connected together
20 MΩ min. (at 100 VDC)
---
Between all terminals connected together and DIN rail
20 MΩ min. (at 100 VDC)
Dielectric strength
Between logical AND connection terminals, and power supply input terminals and other input and output terminals connected together
500 VAC for 1 min
---
Between all terminals connected together and DIN rail
500 VAC for 1 min
Vibration resistance Frequency: 10 to 55 to 10 Hz, 0.375-mm single amplitude (0.75-mm double amplitude)
Shock resistance
Destruction 300 m/s2
Malfunction 100 m/s2
Ambient temperature −10 to 55°C (no icing or condensation)
Ambient humidity 25% to 85%
Terminal tightening torque (See note 4.) 0.5 N·m
Weight Approx. 200 g Approx. 125 g
2. Characteristics
G9SXUSER'S GUIDE 77
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2-2 Non-contact Door Switch Controller
Note: 1. When two or more Units are connected by logical AND, the operating time and response time are the sum total of the operating times and responsetimes, respectively, of all the Units connected by logical AND.
2. Represents the operating time when the safety input turns ON with all other conditions set.3. Represents the operating time when the logical AND input and the Non-contact Door Switch input turn ON with all other conditions set.4. The fault detection time for 24-V short-circuit faults on the non-contact door switch input is 35 ms max.
When calculating the safe distance for applications other than as door switches, use a fault detection time of 35 ms. 5. For the G9SX-@-RT (with screw terminals) only.
Item Model G9SX-NS202-@ G9SX-NSA222-T03-@
Over-voltage category (IEC/EN 60664-1)
II
Operating time (OFF to ON state)(See note 1.)
100 ms max. (Logical AND connection input ON and Non-contact Door Switch input ON)
50 ms max. (Safety input: ON)(See note 2.)100 ms max. (Logical AND connection input ON and Non-contact Door Switch input ON) (See note 3.)
Response time (ON to OFF state)(See note 1.)
15 ms max. (Logical AND connection input: OFF)20 ms max. (Non-contact Door Switch input OFF) (See note 4.)
15 ms max. (Safety input OFF and logical AND connection input OFF)20 ms max. (Non-contact Door Switch input: OFF) (See note 4.)
ON-state residual voltage 3.0 V max. (safety output, auxiliary output)
OFF-state leakage current 0.1 mA max. (safety output, auxiliary output)
Maximum wiring length of safety input, logical AND connection input, and Non-contact Door Switch input
100 m max. (External connection impedance: 100 Ω max. and 10 nF max.)
Reset input time (Reset button pressing time)
100 ms min.
Accuracy of OFF-delay time --- Within ±5% of the set value
Insulationresistance
Between logical AND connection terminals, and power supply input terminals and other input and output terminals connected together
20 MΩ min. (at 100 VDC)
Between all terminals connectedtogether and DIN rail
Dielectricstrength
Between logical AND connection terminals, and power supply input terminals and other input and output terminals connected together
500 VAC for 1 min.
Between all terminals connected together and DIN rail
Vibration resistance 10 to 55 to 10 Hz, 0.375-mm single amplitude (0.75-mm double amplitude)
Shock resistance
Destruction 300 m/s2
Malfunction 100 m/s2
Ambient operating temperature −10 to 55°C (no icing or condensation)
Ambient operating humidity 25% to 85%
Terminal tightening torque (See note 5.) 0.5 N·m
Weight Approx. 125 g Approx. 200 g
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78G9SX USER'S GUIDE
2-3 Safety Guard Switching Unit
Note: 1. When two or more Units are connected by logical AND, the operating time and response time are the sum total of the operating times and responsetimes, respectively, of all the Units connected by logical AND.
2. Represents the operating time when the safety input turns ON with all other conditions set.3. Represents the operating time when the logical AND input turns ON with all other conditions set.4. This is the allowable switching time for the operating mode selector. If switching takes more than 450 ms, the G9SX-GS@ will detect an error.5. This is the time required for the safety input to actually switch to an activated condition after the mode selector input is switched.
6. Only when the G9SX-GS@ is used with manual switching.7. For the G9SX-@-RT (with screw terminals) only.
Item Model G9SX-GS226-T15-@
Overvoltage category (IEC/EN 60664-1) II
Operating time (OFF to ON state)(See note 1.)
50 ms max. (Safety input: ON) (See note 2.)100 ms max. (Logical AND connection input: ON) (See note 3.)
Response time (ON to OFF state)(See note 1.)
15 ms max.
Allowable switching time for mode selector input (See notes 4 and 6.)
450 ms max.
Response time for switching operating modes (See notes 5 and 6.)
50 ms max.
ON-state residual voltage 3.0 V max. for safety outputs, auxiliary outputs, and external indicator outputs
OFF-state leakage current 0.1 mA max. for safety outputs and auxiliary outputs, 1 mA max. for external indicator outputs
Maximum wiring length of safety input and logical AND input
100 m max.(External connection impedance: 100 Ω max. and 10 nF max.)
Reset input time(Reset button pressing time)
100 ms min.
Accuracy of OFF-delay time Within ± 5% of the set value
Insulation resistance
Between logical AND connection terminals, and power supply input terminals and other input and output terminals connected together 20 MΩ min. (at 100 VDC)
Between all terminals connected together and DIN rail
Dielectric strength
Between logical AND connection terminals, and power supply input terminals and other input and output terminals connected together 500 VAC for 1 min
Between all terminals connected together and DIN rail
Vibration resistance Frequency: 10 to 55 to 10 Hz, 0.375-mm single amplitude (0.75-mm double amplitude)
Shock resistance
Destruction 300 m/s2
Malfunction 100 m/s2
Ambient operating temperature −10 to 55°C (with no icing or condensation)
Ambient operating humidity 25% to 85%
Terminal tightening torque (See note 7.) 0.5 N·m
Weight Approx. 240 g
M1
M2
UA
UB
450 ms max.
50 ms max.
Safety input A is activated
Safety input B is activated
M1
M2
UA
UB
450 ms max.
50 ms max.
Safety input A is activated
Safety input B is activated
<When M2 Is Turned ON after M1 Is Turned OFF> <When M1 Is Turned OFF after M2 Is Turned ON>
2. Characteristics
G9SXUSER'S GUIDE 79
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2-4 Expansion Unit
Note: 1. When two or more Units are connected by logical AND, the operating time and response time are the sum total of the operating times and responsetimes, respectively, of all the Units connected by logical AND.
2. This does not include the operating time or response time of Safety Guard Switching Units (G9SX-AD/-ADA/-NSA/-GS) that are connected.3. This does not include the operating time or response time of internal relays in the [email protected]. For the G9SX-@-RT (with screw terminals) only.
Item Model G9SX-EX-@
Overvoltage category (IEC/EN 60664-1) II (Safety relay outputs 13 to 43 and 14 to 44: III)
Operating time (OFF to ON state)(See note 1.)
30 ms max. (See note 2.)
Response time (ON to OFF state)(See note 1.)
10 ms max. (See note 2.)
ON-state residual voltage 3.0 V max. for safety outputs and auxiliary outputs
OFF-state leakage current 0.1 mA max. for safety outputs and auxiliary outputs
Maximum wiring length of safety input and logical AND input
100 m max.(External connection impedance: 100 Ω max. and 10 nF max.)
Reset input time (Reset button pressing time)
100 ms min.
Accuracy of OFF-delay time (See note 3.) Within ± 5% of the set value
Insulation resistance
Between all terminals connected together and DIN rail
100 MΩ min. (at 500 VDC)
Dielectric strength
Between all terminals connected together and DIN rail 1,200 VAC for 1 min
Between different poles of outputs
Between safety relay outputs connected together and other terminals connected together
2,200 VAC for 1 min
Vibration resistance Frequency: 10 to 55 to 10 Hz, 0.375-mm single amplitude (0.75-mm double amplitude)
Shock resistance
Destruction 300 m/s2
Malfunction 100 m/s2
DurabilityElectrical
100,000 cycles min. (rated load, switching frequency: 1,800 cycles/hour)
Mechanical 5,000,000 cycles min. (switching frequency: 7,200 cycles/hour)
Ambient operating temperature −10 to 55°C (with no icing or condensation)
Ambient operating humidity 25% to 85%
Terminal tightening torque (See note 4.) 0.5 N·m
Weight Approx. 165 g
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3. Dimensions and Terminal arrangementsNote: All units are in millimeters unless otherwise indicated.
3-1 Advanced UnitG9SX-AD322-@
G9SX-ADA222-@
3-2 Basic UnitG9SX-BC202-@
No.OFF-DELAY
0.50.4
0.30.2 15
10754
321.510.6
0.7
0
S54S44S34S24S14 L1A2T42T41T22T21
A1X2X1Y1T12T11T33T31
T1
ERR
EI
AND
FB
ED
T2
PWR
T32
G9SX-AD322-T1524VDC
100 max.
* Typical dimension
(10) 115 max.35.5 max.(35)*
(6) (See note 2.)
(6) (See note 2.)
FBPWR
T1
AND
EI
T2
ED
ERR
S44
T41
S14
T21
S24
T22
S34 S54
T42
L1
A2
T33T32T31
X1Y1T12T11 X2 A1
Note: 1. Above outline drawing is for -RC terminal type.2. For -RC terminal type only.
Terminal arrangement
No.OFF-DELAY
0.50.4
0.30.2 15
10754
321.510.6
0.7
0
L1S54S44S24S14 L2A2T42T41T22T21
A1X2X1Y1T12T11T33T31
T1
ERR
EI
AND1
FB
ED
T2
PWR
T32 T52T51
G9SX-ADA222-T15024VDC
AND2
(6) (See note 2.)
100 max.
(6) (See note 2.)115 max.(10)
* Typical dimension
35.5 max.(35)*
AND1 AND2
G9
SX
-AD
A2
22
-T1
50 FBPWR
T1
AND1
EI
T2
AND2
ED
ERR
S54
T41
S14
T21
S24
T22
S44 L1
T42
L2
A2
T33T32T31
X1Y1T12T11 X2 A1
T51 T52
Note: 1. Above outline drawing is for -RC terminal type.2. For -RC terminal type only.
Terminal arrangement
No.
T1 T2
FB
ERREI
PWR
L2L1S24S14A2X2T22T21
A1X1T12T11Y1T32 T33T31
G9SX-BC20224VDC
* Typical dimension
23 max.(22.5)*
115 max. (6) (See note 2.)
100 max.
(6) (See note 2.)
FBPWR
T1
EI
T2
ERR
L2
A2
S14
T21
S24
T22
L1
X2
Y1T33T32T31
A1X1T12T11
Note: 1. Above outline drawing is for -RC terminal type.2. For -RC terminal type only.
Terminal arrangement
3. Dimensions and Terminal arrangements
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3-3 Non-contact Door Switch ControllerG9SX-NS202-@
G9SX-NSA222-T03-@
3-4 Safety Guard Switching UnitG9SX-GS226-T15-@
No.
NS
FB
ERR
AND
EI
PWR
D4L1S24S14A2X2T42T41
A1X1D2D1D3T32 T33T31
G9SX-NS20224VDC
* Typical dimension
23 max.(22.5)* 115 max. (6) (See note 2.)
100 max.
(6) (See note 2.)
FBPWR
AND
EI
NS
ERR
D4
A2
S14
T41
S24
T42
L1
X2
D3T33T32T31
A1X1D2D1
Note: 1. Above outline drawing is for -RC terminal type.2. For -RC terminal type only.
Terminal arrangement
No.OFF-DELAY
L1S54S44S24S14 D4A2T42T41T22T21
A1X2X1Y1T12T11T33T31
T1
ERR
EI
AND
FB
ED
T2
PWR
T32 D2 D3D1
G9SX-NSA222-T3024VDC
NS
0.50.4
0.30.2 3.0
2.52.01.8
1.41.21.00.90.8
0.60.7
0
35.5 max.(35)*
* Typical dimension
(10) 115 max. (6) (See note 2.)
100 max.
(6) (See note 2.)
FBPWR
T1
AND
EI
T2
NS
ED
ERR
S54
T41
S14
T21
S24
T22
S44 L1
T42
D4
A2
T33T32T31
X1Y1T12T11 X2 A1
D1 D2 D3
Terminal arrangement
Note: 1. Above outline drawing is for -RC terminal type.2. For -RC terminal type only.
T31 T32 T33T11
Y1 M1 M2T12 T61 T62 Y2 Y3
T21 T22X1 X2 X3 X4 S14 S24
T72T71 T41 T42
24VDC
T1
ERR
G9SX-GS226-T15
EI
T6
FB
ED
UA
PWR
OFF-DELAY
UB
0.2 00.3
0.40.5
0.60.7 1 1.5 2 3
457
1015
T2
T7
AND
UA UBY4 A1
S44 S54L1 A2
No.
* Typical dimension
45.5 max.(45)* (10) 115 max. (6) (See note 2.)
100 max.
(6) (See note 2.)
FB
UA
ED
UB
ERR
PWR
T1
EI
T6
AND
T2
T7
X4
T72
X1
T21
X2
T22 T71
X3 S14
T41
S24
T42
S44
L1
S54
A2
T33T32T31
T62T61T12T11 Y2 Y3 Y4 A1
Y1 M1 M2 UA UB
Note: 1. Above outline drawing is for -RC terminal type.2. For -RC terminal type only.
Terminal arrangement
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3. Dimensions and Terminal arrangements
82G9SX USER'S GUIDE
3-5 Expansion UnitExpansion UnitG9SX-EX401-@Expansion Unit (OFF-delayed Model)G9SX-EX041-T-@
G9SX-EX041-T
23 max.(22.5)*
* Typical dimension
115 max. (6) (See note 2.)
100 max.
(6) (See note 2.)
43332313
PWR
44
A2
14 24
A1
34
X2
EI
ERR
43332313
PWR
44
A2
14 24
A1
34
X2
ED
ERR
G9SX-EX041-T-@(Expansion Unit with OFF Delay)
G9SX-EX401-@(Expansion Unit)
Note: 1. Above outline drawing is for -RC terminal type.2. For -RC terminal type only.
Terminal arrangement
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Appendix
1. Troubleshooting 84
2. Logical AND Connections 91
3. Accessories and Related Products 93
84G9SX USER'S GUIDE
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1. Troubleshooting
■ Fault DetectionWhen the G9SX detects a fault, the ERR indicator and/or other indicators light up or blink to inform the user about
the fault.
Check and take necessary measures referring to the following table, and then re-supply power to the G9SX.
■ Error IndicationsG9SX-BC202-@/G9SX-AD322-@/G9SX-ADA222-@
ERR indicator
Other indicator
Fault Expected causes of the fault Check points and measures to take Page
Blinks---
Fault due to electro-magnetic disturbance or of internal circuits
(1) Affected by excessive electromagnetic disturbance.
(1) Check the disturbance level around the G9SX and the related system.
---
(2) Failure of the G9SX internal circuit. (2) Replace the G9SX. ---
Lights
T1 blinks
Fault involved with safety input 1
(1) Incorrect wiring of safety input 1.(For example, cross fault detection mode settings and safety input wiring do not match).
(1) Check the wiring to T11, T12, T21, T22 and Y1.
63
(2) Wiring to safety input 1 and 24 V or another I/O terminal short circuited.
(2) Check the wiring to T11 and T12. ---
(3) Short circuit between safety inputs(when cross fault detection mode is ON).
(3) Check the wiring to T11, T12, T21 and T22.
63
(4) Failure in internal circuit for T11 and T12. (4) Replace the G9SX. ---
T2 blinks
Fault involved with safety input 2
(1) Incorrect wiring of safety input 2.(For example, cross fault detection mode settings and safety input wiring do not match).
(1) Check the wiring to T11, T12, T21, T22 and Y1.
63
(2) Wiring to safety input 2 and 24 V or another I/O terminal short circuited.
(2) Check the wiring to T21 and T22. ---
(3) Short circuit between safety inputs(when cross fault detection mode is ON).
(3) Check the wiring to T11, T12, T21 and T22.
63
(4) Failure in internal circuit for T21 and T22. (4) Replace the G9SX. ---
FB blinks
Fault involved with feedback/reset inputs
(1) Incorrect feedback/reset input wiring. (1) Check the wiring to T31, T32 and T33. 62
Fault in Expansion Unit
(2) Connecting cable to Expansion Unit or terminating connector disconnected.
(2) Check the connecting cable to the Expansion Unit and the connection of the terminating connector.
69
Abnormal supply voltage to Expansion Unit
(3) Voltage fluctuation caused by insufficient supply voltage current capacity.
(3) Change to a power supply with a greater current capacity.
---
(4) Supply voltage outside the rated value.(4) Connect to a supply voltage of 24 VDC
-15% to +10%.---
Failure in internal circuit
(5) Failure in internal circuit for T31, T32 and T33.
(5) Replace the G9SX. ---
(6) Expansion Unit relay contact or internal circuit failed.
(6) Replace the Expansion Unit. ---
EI blinks
Fault involved with instantaneous safety outputs
(1) Instantaneous safety outputs short circuited.
(1) Check the wiring to S14, S24 and S34. ---
(2) Instantaneous safety outputs and 24 V, 0 V, or another I/O terminal short circuited.
(2) Check the wiring to S14, S24 and S34. ---
Fault involved with logical AND connection outputs
(3) Logical AND connection outputs and 24 V, 0 V, or another I/O terminal short circuited.
(3) Check the wiring to L1 and L2. ---
Abnormal ambient temperature
(4) The environment exceeds the permissible ambient operating temperature.
(4) Check the ambient temperature and spacing around the G9SX.
76
Failure in internal circuit
(5) Failure in internal circuit for S14, S24 and S34.
(5) Replace the G9SX. ---
(6) Failure in internal circuit for L1 and L2. (6) Replace the G9SX. ---
1. Troubleshooting
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When indicators other than the ERR indicator blink, check and take necessary actions referring to the following table.
ERR indicator
Other indicator
Fault Expected causes of the fault Check points and measures to take Page
Lights
ED blinks
Fault involved with OFF-delayed safety outputs
(1) Safety OFF-delayed outputs short circuited.
(1) Check the wiring to S44 and S54. ---
(2) Wiring to the OFF-delayed safety contact outputs and 24 V, 0 V, or another I/O terminal short circuited.
(2) Check the wiring to S44 and S54. ---
Incorrect set values for OFF-delay time
(3) Settings of two OFF-delay time preset switches are not the same.
(3) Confirm the set values of the OFF-delay time preset switches on the front and back of the Unit.
65
Abnormal ambient temperature
(4) The environment exceeds the permissible ambient operating temperature.
(4) Check the ambient temperature and spacing around the G9SX.
76
Failure in internal circuit
(5) Failure in internal circuit for S44 and S54.
(5) Replace the G9SX. ---
(6) OFF-delay time preset switch failed. (6) Replace the G9SX. ---
AND blinks (AND1, AND2)
Fault involved with logical AND connection input
(1) Logical AND connection input and 24 V, 0 V, or another I/O terminal short circuited.
(1) Check the wiring to T41 and T51. ---
(2) Maximum cable length exceeded.(2) Make sure that the wiring length for the
T41, T42, T51 and T52 terminals is less than 100 m.
---
(3) Maximum number of connected Units exceeded.
(3) Check the logical AND connection for the G9SX.
59
Incorrect setting for logical AND connection setting switch
(4) The logical AND connection preset switch is set to OFF.
(4) When using a logical AND connection, set the logical AND connection preset switch to AND.
57
Fault in internal circuit
(5) Failure in internal circuit for T41, T42, T51 and T52.
(5) Replace the G9SX. ---
(6) The logical AND connection preset switch failed.
(6) Replace the G9SX. ---
All indicators except PWR
blink
Supply voltage outside the rated value
(1) Supply voltage outside the rated value.(1) Connect to a supply voltage of 24 VDC
-15% to +10%.---
(2) Voltage fluctuation caused by insufficient supply voltage current capacity.
(2) Change to a power supply with a greater current capacity.
---
ERR indicator
Other indicator
Fault Expected causes of the fault Check points and measures to take Page
Off
T1
Blinks
Mismatch between input 1 and input 2
The input status between safety input 1 and safety input 2 is different due to a contact failure or short circuit of a safety input device or a wiring fault.
Check the wiring from safety input devices to the G9SX. Or check the input sequence of safety input devices.After removing the fault, turn both safety input 1 and 2 to the OFF state.
---
T2
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1. Troubleshooting
86G9SX USER'S GUIDE
G9SX-NS202-@/G9SX-NSA222-@ERR
indicatorOther
indicatorFault Expected causes of the fault Check points and measures to take Page
Blinks---
Fault due to electro-magnetic disturbance or of internal circuits
(1) Affected by excessive electromagnetic disturbance.
(1) Check the disturbance level around the G9SX and the related system.
---
(2) Failure of the G9SX internal circuit. (2) Replace the G9SX. ---
Lights
T1 blinks
Fault involved with safety input 1
(1) Incorrect wiring of safety input 1.(For example, cross fault detection mode settings and safety input wiring do not match).
(1) Check the wiring to T11, T12, T21, T22 and Y1.
63
(2) Wiring to safety input 1 and 24 V or another I/O terminal short circuited.
(2) Check the wiring to T11 and T12. ---
(3) Short circuit between safety inputs(when cross fault detection mode is ON).
(3) Check the wiring to T11, T12, T21 and T22.
63
(4) Failure in internal circuit for T11 and T12. (4) Replace the G9SX. ---
T2 blinks
Fault involved with safety input 2
(1) Incorrect wiring of safety input 2.(For example, cross fault detection mode settings and safety input wiring do not match).
(1) Check the wiring to T11, T12, T21, T22 and Y1.
63
(2) Wiring to safety input 2 and 24 V or another I/O terminal short circuited.
(2) Check the wiring to T21 and T22. ---
(3) Short circuit between safety inputs(when cross fault detection mode is ON).
(3) Check the wiring to T11, T12, T21 and T22.
63
(4) Failure in internal circuit for T21 and T22. (4) Replace the G9SX. ---
NS blinks
Fault in Non-contact Door Switch input
(1) Wiring to the Non-contact Door Switch input and 24 V or another I/O terminal short circuited.
(1) Check the wiring to D1 and D2. 66
(2) Incorrect wiring of Non-contact Door Switch inputs in series connection.
(2) Check the wiring to the D40A. 66
Failure in internal circuit
(3) Non-contact Door Switch failed. (3) Replace the D40A. ---
(4) Failure in internal circuit for D1 and D2. (4) Replace the G9SX. ---
FB blinks
Fault involved with feedback/reset inputs
(1) Incorrect feedback/reset input wiring. (1) Check the wiring to T31, T32, and T33. 62
Fault in Expansion Unit
(2) Connecting cable to Expansion Unit or terminating connector disconnected.
(2) Check the connecting cable to the Expansion Unit and the connection of the terminating connector.
69
Abnormal supply voltage to Expansion Unit
(3) Voltage fluctuation caused by insufficient supply voltage current capacity.
(3) Change to a power supply with a greater current capacity.
---
(4) Supply voltage outside the rated value.(4) Connect to a supply voltage of 24 VDC
-15% to +10%.---
Failure in internal circuit
(5) Failure in internal circuit for T31, T32 and T33.
(5) Replace the G9SX. ---
(6) Expansion Unit relay contact or internal circuit failed.
(6) Replace the Expansion Unit. ---
EI blinks
Fault involved with instantaneous safety outputs
(1) Instantaneous safety outputs short circuited.
(1) Check the wiring to S14 and S24. ---
(2) Instantaneous safety outputs and 24 V, 0 V, or another I/O terminal short circuited.
(2) Check the wiring to S14 and S24. ---
Fault involved with logical AND connection outputs
(3) Logical AND connection outputs and 24 V, 0 V, or another I/O terminal short circuited.
(3) Check the wiring to L1. ---
Abnormal ambient temperature
(4) The environment exceeds the permissible ambient operating temperature.
(4) Check the ambient temperature and spacing around the G9SX.
77
Failure in internal circuit
(5) Failure in internal circuit for S14 and S24.
(5) Replace the G9SX. ---
(6) Failure in internal circuit for L1. (6) Replace the G9SX. ---
1. Troubleshooting
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When indicators other than the ERR indicator blink, check and take necessary actions referring to the following table.
ERR indicator
Other indicator
Fault Expected causes of the fault Check points and measures to take Page
Lights
ED blinks
Fault involved with OFF-delayed safety outputs
(1) Safety OFF-delayed outputs short circuited.
(1) Check the wiring to S44 and S54. ---
(2) Wiring to the OFF-delayed safety contact outputs and 24 V, 0 V, or another I/O terminal short circuited.
(2) Check the wiring to S44 and S54. ---
Incorrect set values for OFF-delay time
(3) Settings of two OFF-delay time preset switches are not the same.
(3) Confirm the set values of the OFF-delay time preset switches on the front and back of the Unit.
65
Abnormal ambient temperature
(4) The environment exceeds the permissible ambient operating temperature.
(4) Check the ambient temperature and spacing around the G9SX.
77
Failure in internal circuit
(5) Failure in internal circuit for S44 and S54.
(5) Replace the G9SX. ---
(6) OFF-delay time preset switch failed. (6) Replace the G9SX. ---
AND blinks
Fault involved with logical AND connection input
(1) Logical AND connection input and 24 V, 0 V, or another I/O terminal short circuited.
(1) Check the wiring to T41. ---
(2) Maximum cable length exceeded.(2) Make sure that the wiring length for the
T41 and T42 terminals is less than 100 m.---
(3) Maximum number of connected Units exceeded.
(3) Check the logical AND connection for the G9SX.
59
Incorrect setting for logical AND connection setting switch
(4) The logical AND connection preset switch is set to OFF.
(4) When using a logical AND connection, set the logical AND connection preset switch to AND.
57
Fault in internal circuit
(5) Failure in internal circuit for T41 and T42.
(5) Replace the G9SX. ---
(6) The logical AND connection preset switch failed.
(6) Replace the G9SX. ---
All indicators except PWR
blink
Supply voltage outside the rated value
(1) Supply voltage outside the rated value.(1) Connect to a supply voltage of 24 VDC
-15% to +10%.---
(2) Voltage fluctuation caused by insufficient supply voltage current capacity.
(2) Change to a power supply with a greater current capacity.
---
ERR indicator
Other indicator
Fault Expected causes of the fault Check points and measures to take Page
Off
T1
Blinks
Mismatch between input 1 and input 2
The input status between safety input 1 and safety input 2 is different due to a contact failure or short circuit of a safety input device or a wiring fault.
Check the wiring from safety input devices to the G9SX. Or check the input sequence of safety input devices.After removing the fault, turn both safety input 1 and 2 to the OFF state.
---
T2
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1. Troubleshooting
88G9SX USER'S GUIDE
G9SX-GS226-@ERR
indicatorOther
indicatorFault Expected causes of the fault Check points and measures to take Page
Blinks---
Fault due to electro-magnetic disturbance or of internal circuits
(1) Affected by excessive electromagnetic disturbance.
(1) Check the disturbance level around the G9SX and the related system.
---
(2) Failure of the G9SX internal circuit. (2) Replace the G9SX. ---
Lights
T1 blinks
Fault involved with safety input A, channel 1
(1) Incorrect wiring of safety input A channel 1. (For example, cross fault detection mode settings and safety input wiring do not match.)
(1) Check the wiring to T11, T12, T21, T22 and Y1.
63
(2) Wiring to safety input A channel 1 and 24 V or another I/O terminal short circuited.
(2) Check the wiring to T11 and T12. ---
(3) Short circuit between safety inputs(when cross fault detection mode is ON).
(3) Check the wiring to T11, T12, T21 and T22.
63
(4) Failure in internal circuit for T11 and T12. (4) Replace the G9SX. ---
T2 blinks
Fault involved with safety input A, channel 2
(1) Incorrect wiring of safety input A channel 2. (For example, cross fault detection mode settings and safety input wiring do not match.)
(1) Check the wiring to T11, T12, T21, T22 and Y1.
63
(2) Wiring to safety input A channel 2 and 24 V or another I/O terminal short circuited.
(2) Check the wiring to T21 and T22. ---
(3) Short circuit between safety inputs(when cross fault detection mode is ON).
(3) Check the wiring to T11, T12, T21 and T22.
63
(4) Failure in internal circuit for T21 and T22. (4) Replace the G9SX. ---
T6 blinks
Fault involved with safety input B, channel 1
(1) Incorrect wiring of safety input B channel 1. (For example, cross fault detection mode settings and safety input wiring do not match.)
(1) Check the wiring to T61, T62, T71, T72 and Y2.
63
(2) Wiring to safety input B channel 1 and 24 V or another I/O terminal short circuited.
(2) Check the wiring to T61 and T62. ---
(3) Short circuit between safety inputs(when cross fault detection mode is ON).
(3) Check the wiring to T61, T62, T71 and T72.
63
(4) Failure in internal circuit for T61 and T62. (4) Replace the G9SX. ---
T7 blinks
Fault involved with safety input B, channel 1
(1) Incorrect wiring of safety input B channel 2. (For example, cross fault detection mode settings and safety input wiring do not match.)
(1) Check the wiring to T61, T62, T71, T72 and Y2.
63
(2) Wiring to safety input B channel 2 and 24 V or another I/O terminal short circuited.
(2) Check the wiring to T71 and T72. ---
(3) Short circuit between safety inputs(when cross fault detection mode is ON).
(3) Check the wiring to T61, T16, T71 and T72.
63
(4) Failure in internal circuit for T71 and T72. (4) Replace the G9SX. ---
FB blinks
Fault involved with feedback/reset inputs
(1) Incorrect feedback/reset input wiring. (1) Check the wiring to T31, T32, and T33. 62
Fault in Expansion Unit
(2) Connecting cable to Expansion Unit or terminating connector disconnected.
(2) Check the connecting cable to the Expansion Unit and the connection of the terminating connector.
69
Abnormal supply voltage to Expansion Unit
(3) Voltage fluctuation caused by insufficient supply voltage current capacity.
(3) Change to a power supply with a greater current capacity.
---
(4) Supply voltage outside the rated value.(4) Connect to a supply voltage of 24 VDC
-15% to +10%.---
Failure in internal circuit
(5) Failure in internal circuit for T31, T32 and T33.
(5) Replace the G9SX. ---
(6) Expansion Unit relay contact or internal circuit failed.
(6) Replace the Expansion Unit. ---
1. Troubleshooting
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ERR indicator
Other indicator
Fault Expected causes of the fault Check points and measures to take Page
Lights
EI blinks
Fault involved with instantaneous safety outputs
(1) Instantaneous safety outputs short circuited.
(1) Check the wiring to S14 and S24. ---
(2) Instantaneous safety outputs and 24 V, 0 V, or another I/O terminal short circuited.
(2) Check the wiring to S14 and S24. ---
Fault involved with logical AND connection outputs
(3) Logical AND connection outputs and 24 V, 0 V, or another I/O terminal short circuited.
(3) Check the wiring to L1. ---
Abnormal ambient temperature
(4) The environment exceeds the permissible ambient operating temperature.
(4) Check the ambient temperature and spacing around the G9SX.
78
Failure in internal circuit
(5) Failure in internal circuit for S14 and S24.
(5) Replace the G9SX. ---
(6) Failure in internal circuit for L1. (6) Replace the G9SX. ---
ED blinks
Fault involved with OFF-delayed safety outputs
(1) Safety OFF-delayed outputs short circuited.
(1) Check the wiring to S44 and S54. ---
(2) Wiring to the OFF-delayed safety contact outputs and 24 V, 0 V, or another I/O terminal short circuited.
(2) Check the wiring to S44 and S54. ---
Incorrect set values for OFF-delay time
(3) Settings of two OFF-delay time preset switches are not the same.
(3) Confirm the set values of the OFF-delay time preset switches on the front and back of the Unit.
65
Abnormal ambient temperature
(4) The environment exceeds the permissible ambient operating temperature.
(4) Check the ambient temperature and spacing around the G9SX.
78
Failure in internal circuit
(5) Failure in internal circuit for S44 and S54.
(5) Replace the G9SX. ---
(6) OFF-delay time preset switch failed. (6) Replace the G9SX. ---
AND blinks
Fault involved with logical AND connection input
(1) Logical AND connection input and 24 V, 0 V, or another I/O terminal short circuited.
(1) Check the wiring to T41. ---
(2) Maximum cable length exceeded.(2) Make sure that the wiring length for the
T41 and T42 terminals is less than 100 m.---
(3) Maximum number of connected Units exceeded.
(3) Check the logical AND connection for the G9SX.
59
Incorrect setting for logical AND connection setting switch
(4) The logical AND connection preset switch is set to OFF.
(4) When using a logical AND connection, set the logical AND connection preset switch to AND.
57
Fault in internal circuit
(5) Failure in internal circuit for T41 and T42.
(5) Replace the G9SX. ---
(6) The logical AND connection preset switch failed.
(6) Replace the G9SX. ---
UA blinks
Fault in external indicator output
(1) Wiring to the external indicator output and 24 V, 0 V, or another I/O terminal short circuited.
(1) Check the wiring to UA. ---
(2) External indicator output disconnected.(external indicator not connected)
(2) Check the wiring to UA. 68
Failure of the external indicator
(3) External indicator failed.(3) Replace the connected external
indicator.---
Fault in the external indicator diagnosis switching input
(4) Wiring for external indicator diagnosis switching input and 24 V disconnected.(when external indicator was not connected)
(4) Check the wiring to Y3. 68
Failure in internal circuit
(5) Failure in internal circuit for UA. (5) Replace the G9SX. ---
(6) Failure in internal circuit for Y3. (6) Replace the G9SX. ---
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1. Troubleshooting
90G9SX USER'S GUIDE
When indicators other than the ERR indicator blink, check and take necessary actions referring to the following table.
G9SX-EX401-@/G9SX-EX041-T-@
ERR indicator
Other indicator
Fault Expected causes of the fault Check points and measures to take Page
Lights
UB blinks
Fault in external indicator output
(1) Wiring to the external indicator output and 24 V, 0 V, or another I/O terminal short circuited.
(1) Check the wiring to UB. ---
(2) External indicator output disconnected.(external indicator not connected)
(2) Check the wiring to UB. 68
Failure of the external indicator
(3) External indicator failed. (3) Replace the external indicator. ---
Fault in the external indicator diagnosis switching input
(4) Wiring for external indicator diagnosis switching input and 24 V disconnected.(when external indicator was not connected)
(4) Check the wiring to Y4. 68
Failure in internal circuit
(5) Failure in internal circuit for UB. (5) Replace the G9SX. ---
(6) Failure in internal circuit for Y4. (6) Replace the G9SX. ---
UA and UB alternately
blink
Fault involved with the Switching Function
(1) Incorrect setting of the Switching Function setting switch or incorrect wiring to the mode selector input.
(1) Check the wiring to the M1 and M2, and the setting of the Switching Function setting switch.
67
(2) Wiring to the mode selector input and 24 V, 0 V, or another I/O terminal short circuited.
(2) Check the wiring to M1 and M2. 67
Mode selector error
(3) Incorrect mode selector input switching time.
(3) Check the mode selector input switching time.
78
(4) Mode selector failed. (4) Replace mode switch. ---
Failure in internal circuit
(5) Internal circuit of the mode selector input failed.
(5) Replace the G9SX. ---
All indicators except PWR
blink
Supply voltage outside the rated value
(1) Supply voltage outside the rated value.(1) Connect to a supply voltage of 24 VDC
-15% to +10%.---
(2) Voltage fluctuation caused by insufficient supply voltage current capacity.
(2) Change to a power supply with a greater current capacity.
---
ERR indicator
Other indicator
Fault Expected causes of the fault Check points and measures to take Page
Off
T1
Blinks
Safety input A mismatch
The input status between safety input A channel 1 and safety input A channel 2 is different due to contact failure or a short circuit of safety input device or a wiring fault.
Check the wiring from safety input devices to the G9SX-GS@. Or check the input sequence of safety input devices.After removing the fault, turn both safety input A channels 1 and 2 to the OFF state.
---
T2
T6Safety input B mismatch
The input status between safety input B channel 1 and safety input B channel 2 is different due to contact failure or a short circuit of safety input device or a wiring fault.
Check the wiring from safety input devices to the G9SX-GS@. Or check the input sequence of safety input devices.After removing the fault, turn both safety input B channels 1 and 2 to the OFF state.
---
T7
ERR indicator
Other indicator
Fault Expected causes of the fault Check points and measures to take Page
Lights---
Failure of the Expansion Unit
Internal safety relay contact is welded. Replace the G9SX-EX@. ---
Internal circuit failed. Replace the G9SX-EX@. ---
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2. Logical AND ConnectionsThe logical AND connection is used to build logic between multiple safety inputs and safety outputs. This technology
is unique to the G9SX Series.
■ Logical AND Connection SignalsPulse signals are used in the G9SX logical AND connection and dynamic processing is used to monitor the signals.
Information on safety between Units is passed by these pulse signals, which are also used to detect faults in the
connection and short circuits.
For this reason, up to safety category 4 can be achieved without redundant logical AND connection signal lines.
■ InsulationThe logical AND connection input section of the G9SX is insulated. Therefore, even when the G9SX logical AND
connection cable is configured across multiple devices, it is not necessary to use a shared power source.
24 VDC
G9SX G9SX
24 VDC
T41 T42A2
A1
A2 L1
A1
Logical AND connection signal
Internalcircuit
Internalcircuit
Power supply A
Power supply B
Insulationprovided
here.
Device A
Device B
Logical AND connection
Unit A
Unit B
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2. Logical AND Connections
92G9SX USER'S GUIDE
■ Simplifying Safety CircuitsSafety circuits were traditionally built by combining relay contacts, but now the logical AND connections of the G9SX
simplify building safety circuits.
A safety system will be described in which the power is turned ON when safety input 1 and safety input 2 are
simultaneously input.
Previous Circuit with Relay Units
Safety Circuit with G9SX
Motor controller
M
KM1
KM2
(1)
Internalcircuit
Internalcircuit
Safety Input 1 Safety Input 2
Unit 1
Unit 2
FeedbackInput
FeedbackInput
Robot
Motor controller
M
KM1
KM2
Logical ANDconnection
Internalcircuit
Internalcircuit
Safety Input 1
Unit 1
Unit 2
FeedbackInput
Robot
Section (1) in the above figure can be constructed with only 2 wires.
Safety Input 2
3. Accessories and Related Products
G9SXUSER'S GUIDE 93
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3. Accessories and Related ProductsAccessories: Terminal Blocks
Note: 1. The illustrations show 3-pin models.2. The G9SX comes with the terminal blocks attached. The accessories shown here can be ordered as replacements.
Related Products
Appearance(See note 1.)
Specifications Applicable Units Model Remarks
Terminal Block with screw terminals (3-pin)
G9SX-AD-@-RTG9SX-ADA-@-RTG9SX-NSA-@-RT
Y9S-03T1B-02A
Set including two terminal blocks (black) with screw terminals and six code marks to prevent incorrect insertion.
Terminal Block with screw terminals (4-pin)
G9SX-BC-@-RTG9SX-EX-@-RTG9SX-NS-@-RTG9SX-GS-@-RT
Y9S-04T1B-02A
Set including two terminal blocks (black) with screw terminals and six code marks to prevent incorrect insertion.
Terminal Block with Spring-cage Terminals (3-pin)
G9SX-AD-@-RCG9SX-ADA-@-RCG9SX-NSA-@-RC
Y9S-03C1B-02A
Set including two terminal blocks (black) with spring-cage terminals and six code marks to prevent incorrect insertion.
Terminal Block with Spring-cage Terminals (4-pin)
G9SX-BC-@-RCG9SX-EX-@-RCG9SX-NS-@-RCG9SX-GS-@-RC
Y9S-04C1B-02A
Set including two terminal blocks (black) with spring-cage terminals and six code marks to prevent incorrect insertion.
Name ModelCertified
BodyAppearance Features
Safety Category
Compact Safety Door Switch
D4NS
• Lineup includes models with 3 contacts (DPST-NC + SPST-NO and TPST-NC models) in addition to the previous DPST-NC + SPST-NO and DPST-NC models.
• Models with M12 connectors are available to save labor and simplify replacement work.
• Standard-feature gold-clad contacts provide high contact reliability. Can be used with both standard loads and microloads.
4
Compact Guard Lock Safety Door Switch
D4NL
• Built-in switches with four- or five-terminal contact construction are available.
• Key holding force of 1,300 N minimum.• Can be used for either standard loads or microloads.• Lineup includes models with a conduit size of M20.• IP67 degree of protection.
4
Compact Safety Limit Switch
D4N
• Lineup includes models with 3 contacts (DPST-NC + SPST-NO and TPST-NC models) in addition to the previous DPST-NC + SPST-NO and DPST-NC models.
• Models with M12 connectors are available to save labor and simplify replacement work.
• Standard-feature gold-clad contacts provide high contact reliability. Can be used with both standard loads and microloads.
4
Compact Non-contact Door Switch/ Flexible Safety Unit
D40A/G9SX-NS
• Stable operation reduces Controller errors caused by unstable doors.
• Connect up to 30 Non-contact Door Switches with LED indicators to one Controller.
• Reversible switch provides flexibility in installation.• Two-color LED indicator enables easier
maintenance by providing identification of door status and cable disconnections.
• Both Non-contact Door Switches and conventional Key-type Safety-door Switches can be input to one Controller, saving space.
3(EN954-1)
SIL3(IEC/EN61508)
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3. Accessories and Related Products
94G9SX USER'S GUIDE
Safety Light Curtain
F3SJVer.2
• Conforms to EN and IEC standards and incorporates the highest level of safety design.
• Can be front-mounted, top-mounted, or back-mounted in series.
• Finger, hand, or hand to body protection.• Sensing width of 245 to 2,500 mm.
4
Emergency Stop Switch
A165E
• Same length as the 16-dia. Short-body A3B Switch and allows mounting or dismounting of the Switch Unit.
• Operational Unit design remains the same as previous models.
• Large terminals for easy wiring.• Switch Unit can be easily mounted or dismounted
using a special tool.
4
Emergency Stop Switch
A22E
• Easy mounting or dismounting of the Switch Unit from the Operational Unit using a lever (provided).
• Not only round or forked crimp terminals, but also solid wires can be connected to the Switch.
• Safety lock mechanism provided for the first time for 22-dia. models.
• Applicable to 22.3-dia. or 25-dia. panel cutouts. IP65 degree of protection. (However, also use A22Z-R25 for 25-dia. cutout)
• Employs a three-tier terminal block (for lighted model) for easy wiring in narrow spaces.
4
Enabling Grip Switch
A4EG
Scheduled for release in autumn of 2007.
• Sure click feel to ensure operation. • Easy configuration of safety circuits when combined
with the G9SX-GS.4
Key-type Selector Switch
A22K• For changing modes when using the manual
switching function of the G9SX-GS.• Direct opening mechanism (NC contacts only).
---
Name ModelCertified
BodyAppearance Features
Safety Category
G9SXUSER'S GUIDE 95
Precau
tion
s
Precautions
96G9SX USER'S GUIDE
Precau
tion
s
Safety Precautions
!WARNING
<Precautions for All G9SX Models>
<G9SX-GS@>
Serious injury may possibly occur due to breakdown
of safety outputs.
Do not connect loads beyond the rated value to the
safety outputs.
Serious injury may possibly occur due to loss of
required safety functions.
Wire G9SX properly so that supply voltages or
voltages for loads do NOT touch the safety inputs
accidentally or unintentionally.
Serious injury may possibly occur due to damages of
safety inputs.
Apply protection circuitry against back electromotive
force in case connecting inductive loads to safety
outputs.
Serious injury may possibly occur due to loss of
safety functions. Use devices appropriate for the
application and the condition where G9SX is used.
Control Devices Requirements
Emergency Stop Switches
Use approved devices with Direct Opening Mechanism complying with IEC/EN 60947-5-1.Do not connect an Emergency Stop Switch to the G9SX-GS@.
Door interlocking switches or limit switches.
Use approved devices with Direct Opening Mechanism complying with IEC/EN 60947-5-1 and capable of switching micro loads of 24VDC, 5mA.
Safety Sensors
Use approved devices complying with the relevant product standards, regulations and rules in the country where it is used.Consult a certification body to assess that the entire system satisfies the required safety category level.
Relays with forcibly guided contacts
Use approved devices with forcibly guided contacts complying with EN 50205.For feedback purpose use devices with contacts capable of switching micro loads of 24VDC, 5mA.
Contactors
Use contactors with forcibly guided mechanism to input the signal to Feedback/Reset input of G9SX through the NC contact of the contactor.For feedback purpose use devices with contacts capable of switching micro loads of 24VDC, 5mA.Failure to open contacts of a contactor cannot be detected by monitoring its auxiliary NC contact without forcibly guided mechanism.
Other devicesEvaluate whether devices used are appropriate to satisfy the requirements of safety category level.
Serious injury may possibly occur due to loss of
safety functions. Construct an appropriate safety
system as shown in the following table.
Switching function
Auto switching
Safety system configuration example
Safety precautions
(1) Select Safety Sensors that satisfy the following condition:1. Diameter of the smallest detectable object <
Diameter of the object to be detected.(2) Install the Safety Sensors so that they satisfy the
following conditions:1. Use Safety Sensor A to detect the entry of the
machine into area A, and Safety Sensor B to detect the entry of a person into area A.
2. Make sure that the machine can reach area A only by passing through Safety Sensor A, and that a person can reach area A only by passing through Safety Sensor B.
(3) Provide a protective structure to prevent a person from passing completely through Safety Sensor B and stepping into area A. If this is not possible, install a sensor that will detect the presence of a person inside area A and prevent the machine from being restarted while the person is inside area A.
(4) Provide a sufficient safety distance (S1) considering the entry speed of a person and a sufficient safety distance (S2) considering the entry speed of the machine. For details, refer to Safety Distance on page 97.
Switching function
Manual switching
Safety system configuration example
Safety precautions
(1) Select Safety Sensors that satisfy the following condition:1. Diameter of the smallest detectable object <
Diameter of the object to be detected.(2) Install the Safety Sensors so that they satisfy the
following conditions:1. Use the Safety Sensor to detect the entry of the
machine into area A.2. Make sure that the machine can reach area A only
by passing through the Safety Sensor.(3) Provide a protective structure to prevent a person from
stepping into area A when the door is opened. If this is not possible, install a sensor that will detect the presence of a person inside area A and prevent the machine from being restarted while the person is inside area A.
(4) Provide a sufficient safety distance (S2) considering the entry speed of the machine. For details, refer to Safety Distance on page 97.
(5) Position the mode selector in a location where it cannot be operated from inside area A.
Person
Machine
Safety Sensor A
Safety Sensor B
Area A
Machine
Person
Area A Mode selector
Safety Sensor
Safety Door SwitchSafety Limit Switch
Safety Precautions
G9SXUSER'S GUIDE 97
Precau
tion
s
Safety DistanceThe safety distance is the minimum distance that must be provided between the safety input device and a machine's hazardous part to stop the hazardous part before a person or object reaches it. The safety distance varies according to the standards of each country and the specifications of each machine. In addition, the calculation of the safety distance differs if the direction of approach is not perpendicular to the detection zone of the safety input device. Always refer to the relevant standards.
Safety Distance Concepts
Safety Distance Calculation Examples (Reference)
( 1 ) To determine the approach speed K1, consider all factors, including the operator's physical abilities.
( 2 ) To determine the maximum approach speed K2, consult with a notified body or other authoritative institutes.
( 3 ) The response time of a machine is the time from when the machine receives a stop signal to the time when the machine's hazardous part stops. Measure the response time on the actual system. Also, periodically check that the machine's response time has not changed.
( 4 ) For information on the response time of the G9SX system, refer to item 10 of Precautions for Correct Use on page 98.
■ Precautions for Safe Use<Precautions for All G9SX Models>( 1 ) Use G9SX within an enclosure with IP54 protection or
higher of IEC/EN60529.
( 2 ) Incorrect wiring may lead to loss of safety function. Wire conductors correctly and verify the operation of G9SX before commissioning the system in which G9SX is incorporated.
( 3 ) Do not apply DC voltages exceeding the rated voltages, or any AC voltages to the G9SX power supply input.
( 4 ) Use DC supply satisfying requirements below to prevent electric shock.• DC power supply with double or reinforced insulation, for
example, according to IEC/EN60950 or EN50178 or a transformer according to IEC/EN61558.
• DC supply satisfies the requirement for class 2 circuits or limited voltage/current circuit stated in UL 508.
( 5 ) Apply properly specified voltages to G9SX inputs. Applying inappropriate voltages cause G9SX to fail to perform its specified function, which leads to the loss of safety functions or damages to G9SX.
( 6 ) Auxiliary error outputs and auxiliary monitoring outputs are NOT safety outputs. Do not use auxiliary outputs as any safety output.Such incorrect use causes loss of safety function of G9SX and its relevant system. Also Logical AND connection outputs can only be used for logical AND connections between G9SXs.
( 7 ) After installation of G9SX, qualified personnel should confirm the installation, and should conduct test operations and maintenance.The qualified personnel should be qualified and authorized to secure the safety on each phases of design, installation, running, maintenance and disposal of system.
( 8 ) A person in charge, who is familiar to the machine in which G9SX is to be installed, should conduct and verify the installation.
( 9 ) Perform daily and 6-month inspections on the G9SX. Otherwise, the system may fail to work properly, resulting in serious injury.
(10) Do not dismantle, repair, or modify G9SX. It may lead to loss of its safety functions.
(11) Use only appropriate components or devices complying with relevant safety standards corresponding to the required level of safety categories. Conformity to requirements of safety category is determined as an entire system. It is recommended to consult a certification body regarding assessment of conformity to the required safety level.
(12) OMRON shall not be responsible for conformity with any safety standards regarding to customer's entire system.
(13) Disconnect G9SX from power supply when wiring, to prevent electric shock or unexpected operation.Doing so may lead to the loss of its safety functions.
(14) Be cautious not to have your fingers caught when attaching terminal sockets to the plugs on G9SX.
(15) Do not use in combustible gases or explosive gases.
When a person approaches a hazard (machine)
• S1: Safety distance 1• P1: The closest that a machine can come to a person
while operating (the boundary of the machine's operating area)
When a hazard (machine) approaches a person
• S2: Safety distance 2• P2: The closest that a part of a person can come to a
machine.
Calculating the safety distance specified by international standard ISO 13855-2002 (European standard EN 999-1999)
If a person approaches the detection zone perpendicularly, calculate the safety distance as shown below.S1 = K1 × T + CS2 = K2 × T + C
S1: Safety distance 1S2: Safety distance 2K1: Approach speed of a person to the detection
zone (area A)K2: Maximum approach speed of a machine to the
detection zone (area A)T: Total response time of the machine and G9SX
systemC: Additional distance calculated by the detection
capability (the diameter of the smallest detectable object) of the Safety Sensor.
Calculating the safety distance specified by American standard ANSI B11.19
If a person approaches the detection zone perpendicularly, calculate the safety distance as shown below.S1 = K1 × (Ts + Tc + Tr + Tbm) + DpfS2 = K2 × (Ts + Tc + Tr + Tbm) + Dpf
S1: Safety distance 1S2: Safety distance 2K1: Approach speed of a person to the detection
zone (area A)K2: Maximum approach speed of a machine to the
detection zone (area A)Ts: Machine's stop time (s)Tr: Response time of the G9SX system from ON to
OFF (s)Tc: Machine control circuit's maximum response
time required to activate its brake (s)Tbm: Additional time (s)Dpf: Additional distance
Person
Machine
P1
S1
Safety Sensor A
Safety Sensor B
Area A
Person
Machine
S2
P2
Safety Sensor A
Safety Sensor B
Area A
Precau
tion
s
Safety Precautions
98G9SX USER'S GUIDE
<G9SX-GS@>( 1 ) Be sure to correctly connect safety input devices to safety
input A and safety input B to ensure proper operation of the safety functions.
( 2 ) When setting the Switching Function, be sure to consider safety control requirements, safety level and safety category of the entire system.
( 3 ) A qualified personnel who has a thorough understanding of the installed machine must switch the mode selector input. For example, a Switching Unit with Key must be used for the mode selector, and the key must be managed and used in such a way that the machine cannot be operated by unauthorized persons.
<G9SX-EX@>( 1 ) The durability of relays depend greatly on the switching
condition. Confirm the actual conditions of operation in which the relay will be used in order to make sure of the permissible number of switching operations.
■ Precautions for Correct Use<Precautions for All G9SX Models>( 1 ) Handle with care
Do not drop G9SX to the ground or expose to excessive vibration or mechanical shocks. G9SX may be damaged and may not function properly.
( 2 ) Conditions of storageDo not store in such conditions stated below.1. In direct sunlight2. At ambient temperatures out of the range of −10 to 55°C.3. At relative humidity out of the range of 25% to 85% or
under such temperature change that causes condensation.
4. In corrosive or combustible gases5. With vibration or mechanical shocks out of the rated
values.6. Under splashing of water, oil, chemicals7. In the atmosphere containing dust, saline or metal
powder.G9SX may be damaged and may not function properly.
( 3 ) MountingMount G9SX to DIN track with attachments (PFP-M, not incorporated to this product), not to drop off the track by vibration or other force especially when the length of DIN track is short compared to the widths of G9SX.
( 4 ) Following spacing around G9SX should be available to apply rated current to outputs of G9SX and for enough ventilation and wiring:1. At least 25 mm beside side faces of the G9SX.2. At least 50 mm above top face of G9SX and below
bottom face of G9SX.
( 5 ) Wiring1. G9SX
• Wire the G9SX as described below.
• Strip no more than 7 mm of insulation from the end of the wire.
• It is recommended that stranded wire be covered with insulated 0.25- to 2.5-mm2 ferrules before connecting it.
2. G9SX-@-RT (with Screw Terminals)• Tighten each screw to 0.5 to 0.6 N·m or the G9SX-@-
RT may malfunction or generate heat.3. Wiring for a Logical AND Connection
• Use a 2-conductor cabtire cable or shielded cable to wire a logical AND connection between Units.
( 6 ) Connecting Expansion Units (G9SX-EX@-@):(Only G9SX-AD@/-ADA@/-NSA@/-GS@)1. Remove the termination connector from the G9SX, and
insert the connector of the Expansion Unit into the G9SX to connect it.
2. Insert the termination connector into the last Expansion Unit as viewed from the G9SX. When the G9SX is used without any Expansion Units, do not remove the termination connector from the G9SX.
3. Do not remove the termination connector while the system is operating.
4. Before applying the power supply voltage, confirm that the connecting sockets and plugs are locked.
5. Make sure that all connected Expansion Units are supplied with power within 10 s after the power to the G9SX is turned ON. Otherwise, the G9SX will detect a power supply error for the Expansion Units.
( 7 ) Use cables with length less than 100m to connect to Safety Inputs, Feed-back/Reset inputs, or between Logical AND connection inputs and Logical AND connection outputs, respectively.
( 8 ) Set the time duration of OFF-delay to an appropriate value that does not cause the loss of safety function of system.
( 9 ) Logical AND connection between Units: 1. When using Logical AND connection inputs, set the
Logical AND connection preset switch to 'AND' position for the units which the logical AND connection signal are input to.
2. Connect Logical AND connection outputs appropriately to Logical AND connection inputs of the relevant unit. Verify the operation of G9SX before commissioning the system.
3. When configuring the safety related system, be sure to consider that the delay of response time caused by logical AND connections do not degrade the safety function of the system.
4. Use 2-conductor cabtire cable or shielded cable for logical AND connections between Units.
(10) To determine the safety distance to hazards, take into account the delay of safety outputs caused by the following times:1. Response time of safety inputs2. Response time of logical AND connection input
(Also consider the precaution in "Note" below)3. Preset OFF-delay time4. Accuracy of OFF-delay timeNote: When connecting multiple Units with logical AND
connections, the operating time and response time after logical AND connection inputs will be the sum of the operating times and response times of the Units that are connected in series by logical AND connections.
(11) Start entire system after more than 5s have passed since applying supply voltage to all G9SXs in the system.
25 mm min. 25 mm min.
50 mm min.
50 mm min.
T31 T32 T33T11
Y1 M1 M2T12 T61 T62 Y2 Y3
T21 T22X1 X2 X3 X4 S14 S24
T72T71 T41 T42
24VDC24VDC
T1
ERR
G9SX-GS226-T15G9SX-GS226-T15
EI
T6
FB
ED
UA
PWR
OFF-DELAY
UB
0.2 00.3
0.40.5
0.60.7 1 1.5 2 3
457
1015
T2
T7
AND
UA UBY4 A1
S44 S54L1 A2
No.No.
PWR
A2X244342414
A1
33 4313 23
No.
G9SX-EX401-T24VDC
PWR
A2X244342414
A1
33 4313 23
No.
G9SX-EX401-T24VDC
ED ED
ERR ERR
G9SX-NS20224VDC
No.
AND NS
FB
ERREI
PWB
D4L1S24S14A2X2T42T41
A1X1D2D1D3T32 T33T31
Solid wire 0.2 to 2.5 mm2 (AWG24 to AWG12)
Stranded wire 0.2 to 2.5 mm2 (AWG24 to AWG12)
Safety Precautions
G9SXUSER'S GUIDE 99
Precau
tion
s
(12) Power Supply1. The G9SX may malfunction due to electromagnetic
disturbances. Be sure to connect terminal A2 to ground.2. When sharing a power supply with a Safety Light
Curtain, use a power supply that will not fail for a momentary power interruption of 20 ms or less.
(13) Devices connected to G9SX may operate unexpectedly. When replacing G9SX, disconnect it from power supply.
(14) Adhesion of solvent such as alcohol, thinner, trichloroethane or gasoline on the product should be avoided. Such solvents make the marking on G9SX illegible and cause deterioration of parts.
<G9SX-NS/-NSA, D40A>For details, refer to D40A/G9SX-NS catalog (Cat. No. C160).
( 1 ) Connection with Non-contact Door SwitchWire conductors between the G9SX-NS@ and the D40A Non-contact Door Switch correctly and verify operation, before using the system.
( 2 ) The D40A must be used with a designated actuator and G9SX-NS@ Controller.
( 3 ) Use cables with a length of less than 100 m total to connect D40A Switches.
( 4 ) Disconnect the G9SX-NS@ from the power supply when replacing the D40A. Devices connected to the G9SX-NS@ may operate unexpectedly.
( 5 ) Do not use the D40A in a magnetic field of 1.5 mT or higher. The D40A may not function properly.
( 6 ) Do not use the D40A in the water or in an environment continuously exposed to water. Water may penetrate into the D40A. (The IP67 degree of protection for this switch means that it has been checked for penetration of water after having been left in water for a fixed period of time.)
( 7 ) Be sure to mount a guard stopper and guide to prevent the D40A Non-contact Door Switch from being subjected to impact.
( 8 ) Do not use the switch or actuator as a stopper. Protect the switch and the actuator by installing a stopper. Separate the switch and the actuator to a distance of 1 mm or more.
( 9 ) Install the actuator and switch at an appropriate distance so that they do not create a gap that provides access to the hazard.
(10) Where two or more Switches are mounted side-by-side, they must be no closer than 25 mm.
(11) Check that the machine is stopped whenever the interlocked guard door is open.
(12) Do not mount the switch and actuator on magnetic materials, otherwise it may affect the operating distance. Below are reference values of the effect to the operating distance.
(13) Tighten all screws to the specified torque by using non-magnetic M4 screws and washer for the installation of the switch and actuator. After installation and using, the actuator and switch fixing screws must be coated with tamper proof varnish or similar compound. Using anaerobic locking compounds can have a detrimental effect on the plastic switch case if the compounds come into contact with the switch case.
(14) Wiring1. Use the following to wire to the product.
Stranded wire (flexible wire): 0.2 to 2.5 mm2 (AWG24 to AWG12)Solid wire (steel wire): 0.2 to 2.5 mm2 (AWG24 to AWG12)
2. When an auxiliary output is not used, cut off the wiring and cover it with tape so that it does not contact other terminals.
<G9SX-GS>( 1 ) Use a mode selector that has an SPST-NO + SPST-NC
contact form (e.g., OMRON's A22K-@-11).
Total wiring length 100 m max.
D1 D2 D3 D4
G9SX-NS202-@G9SX-NSA222-T03-@
25 mm min.
Distance from surface of magnetic material
Operating distance
0 to 5 mmDecrease to approx. 90% of rated value.
> 5 mm No effect
Switch
Actuator
Precau
tion
s
Safety Precautions
100G9SX USER'S GUIDE
■ Category of EN 954-1In the condition shown in Application Examples, G9SX can be used for the corresponding categories up to category 4.This does NOT mean that G9SX can always be used for required category under all the similar conditions and situations.Conformity to the categories must be assessed as a whole system.When using G9SX for safety categories, be sure to confirm the conformity as a whole system.
To conform with Safety Category 4 (EN954-1)When using Non-contact Door Switch D40A/G9SX-NS@, the system can be used for the corresponding categories up to category 3.1. Input the signals to both of the safety inputs (T11-T12, T21-T22,
T61-T62 and T71-T72).
2. Input a signal to the safety inputs (T11-T12, T21-T22, T61-T62 and T71-T72) through switches with Direct Opening Mechanism.When using Limit Switches, at least one of them must have Direct Opening Mechanism.
3. When connecting Safety sensor with G9SX, use TYPE 4 safety sensor.
4. Input the signal through a NC contact of the contactor to Feedback/Reset input (T31-T32 for manual reset or T31-T33 for auto reset). (Refer to Application Examples)
5. Keep Cross fault detection mode input (Y1 and Y2) open. However, when connecting devices with self-diagnosis function, such as safety sensors, apply 24VDC to Y1 and Y2.
6. Be sure to Connect A2 to ground.7. When using a G9SX-EX-@-@ Expansion Unit, connect fuses
with a current rating of 3.15 A max. to the safety relay outputs to prevent the contacts from welding.
■ Compliance with International Standards
ItemModel G9SX-AD
G9SX-ADAG9SX-NS
G9SX-NSAG9SX-BC G9SX-GS G9SX-EX
Approved by TÜV Product Service
EN50178 ❍ ❍ ❍ ❍ ❍
IEC/EN60204-1 ❍ ❍ ❍ ❍ ❍
EN954-1 Cat.4 ❍ ❍ ❍ ❍
EN954-1 Cat.3 ❍
IEC/EN61508 SIL3 ❍ ❍ ❍ ❍ ❍
IEC/EN62061 SIL3 ❍
IEC/EN61000-6-2 ❍ ❍ ❍ ❍
IEC/EN61000-6-4 ❍ ❍ ❍ ❍
IEC/EN60947-5-2 ❍
IEC/EN60947-5-3 PDF-M ❍
Approved by UL
UL508 ❍ ❍ ❍ ❍ ❍
UL1998 ❍ ❍ ❍ ❍ ❍
NFPA79 ❍ ❍ ❍ ❍ ❍
IEC61508 ❍ ❍ ❍ ❍ ❍
CAN/CSA C22.2 No.142 ❍ ❍ ❍ ❍ ❍
Approved by KOSHA ❍ ❍ ❍ ❍
MEMO
G9SXUSER'S GUIDE 101
MEMO
102G9SX USER'S GUIDE
READ AND UNDERSTAND THIS CATALOGPlease read and understand this catalog before purchasing the products. Please consult your OMRON representative if you have any questions or comments.
Warranty and Limitations of LiabilityWARRANTYOMRON’s exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year (or other period if specified) from date of sale by OMRON.
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING NON-INFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS. ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE. OMRON DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED.
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In no event shall responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted.
IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS REGARDING THE PRODUCTS UNLESS OMRON’S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED, STORED, INSTALLED, AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION, ABUSE, MISUSE, OR INAPPROPRIATE MODIFICATION OR REPAIR.
Application ConsiderationsSUITABILITY FOR USEOMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the combination of products in the customer’s application or use of the product.
At the customer’s request, OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products. This information by itself is not sufficient for a complete determination of the suitability of the products in combination with the end product, machine, system, or other application or use.
The following are some examples of applications for which particular attention must be given. This is not intended to be an exhaustive list of all possible uses of the products, nor is it intended to imply that the uses listed may be suitable for the products:• Outdoor use, uses involving potential chemical contamination or electrical interference, or conditions or uses not described in this
document.
• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, medical equipment, amusement machines, vehicles, safety equipment, and installations subject to separate industry or government regulations.
• Systems, machines, and equipment that could present a risk to life or property.Please know and observe all prohibitions of use applicable to the products.
NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT IS PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.
DisclaimersCHANGE IN SPECIFICATIONSProduct specifications and accessories may be changed at any time based on improvements and other reasons.
It is our practice to change model numbers when published ratings or features are changed, or when significant construction changes are made. However, some specifications of the product may be changed without any notice. When in doubt, special model numbers may be assigned to fix or establish key specifications for your application on your request. Please consult with your OMRON representative at any time to confirm actual specifications of purchased products.
DIMENSIONS AND WEIGHTSDimensions and weights are nominal and are not to be used for manufacturing purposes, even when tolerances are shown.
ERRORS AND OMISSIONSThe information in this document has been carefully checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical, or proofreading errors, or omissions.
PERFORMANCE DATAPerformance data given in this catalog is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of OMRON’s test conditions, and the users must correlate it to actual application requirements. Actual performance is subject to the OMRON Warranty and Limitations of Liability.
PROGRAMMABLE PRODUCTSOMRON shall not be responsible for the user’s programming of a programmable product, or any consequence thereof.
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Note: Specifications subject to change without notice.
Regional Headquarters
Cat. No. Z255-E1-01Printed in Japan0807-0.3M (0307) (M)
OMRON CorporationIndustrial Automation Company
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