Mitsubishi Electric CR1DA-7A1-S15, Standard Specifications Manual

Page: 110 / 144

6-101
Safety
6Safety
Fig.6-3 ： Example of safety measures （Wiring example 3）
1A/1B
2A/2B
3A/3B
4A/4B
5A/5B
6A/6B
8A/8B
9A/9B
1A/1B
2A/2B
3A/3B
4A/4B
5A/5B
6A/6B
EMGIN1/2
EMGOUT1/2
付加軸用コンタクタ
コントロール出力
内部非常停止回路
ロボットコントローラ
未接続
非常停止スイッチ
（2接点タイプ）
エラー出力
モード出力
周辺装置
TB非常停止
ボタン
OP非常停止
ボタン
}
RA
RA
RA
7A/7B
}
}
10A/10B
11A/11B
ロボットコント
ローラ内電源 24V
ﾄﾞｱｽｲｯﾁ入力
安全柵のドア
ｲﾈｰﾌﾞﾘﾝｸﾞ
ﾃﾞﾊﾞｲｽ
周辺装置
側電源24V
監視
監視
周
辺
装
置
側
内
部
回
路
RA
<Wiring example 3>: Connect the emergency stop switch, door switch, and enabling device of peripheral equipment to the robot
controller. The power supply for emergency stop input uses the power supply of peripheral equipment.
Monitor the emergency stop state by the peripheral equipment side.
<Operation of the emergency stop>
If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency
stop state. And, if the emergency stop switch of OP or T/B is pushed in the state of the power of robot
controller OFF, peripheral equipment state can be the emergency stop also.
*1)
*5)
*6)
*7)
*3)5A/5B, and 6A/6B terminal of EMGIN is short-circuited at factory shipments.
Remove it and connect with the power supply ground of peripheral equipment.
*4) Please use a A contact type of the relay with the compulsive guide.
*5) The emergency stop button of the robot controller operation panel.
*6) The emergency stop button of T/B connected to the robot controller.
*7) Emergency stop input relay.
*8) Refer to Page 49, "3.6.4 Enabling device function" for the enabling device.
[Caution] Since we have omitted the information in part because of explanation, there is the section different from the
product. Also refer to Page 46, "Fig.3-9 ： External emergency stop connection" .
*1)EMGIN1/2, and EMGOUT1/2 have
the two terminals separately, and
show that they are the two lines.
Always connect the two lines.
*2) 1A/1B, and 2A/2B terminal of
EMGIN is short-circuited at
factory shipments. Remove it, and
connect the emergency stop
switch and power supply of
peripheral equipment. Connect the
power supply of peripheral
equipment by the polarity shown in
the figure.
Robot controller
Power supply in the
robot controller 24V
OP
Emer
-
gency
stop
button
TB
Emer
-
gency
stop
button
*3)
Door switch input
Safety
fence door
Enabling
device
*8)
Error output
Mode output
Contactor control
output for addi
-
tional axes
Internal emergency stop
circuit
Emergency stop switch
(2- contact type)
Peripheral
equipment
Not connected
*2)
Power supply24V
*2)
*4)
A-contact
Monitor
Monitor
Circuit