Mitsubishi Electric CR750-D Series, Instruction Manual

Page: 64 / 126

2-52 Installation
2Unpacking to installation
(3) CR760 controller
Fig.2-36 ： Example of safety measures (Wiring example 1)
<Wiring example 1>: Connect the emergency stop switch of peripheral equipment to the controller.
The power supply for emergency stop input uses the power supply in the controller.
<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.
非常停止スイッチ
（2接点タイプ）
周辺装置
安全柵のドア
1/ 2
EMG1
内部非常停止回路
コントローラ
非常停止出力
モード出力
RA
RA
RA
}
ﾄﾞｱｽｲｯﾁ入力
ｲﾈｰﾌﾞﾘﾝｸﾞ
ﾃﾞﾊﾞｲｽ
13/14
3/ 4
15/16
5/ 6
17/18
9/10
21/22
7/ 8
19/20
5/ 6
17/18
7/ 8
19/20
11/12
23/24
エラー出力
}
短絡
短絡
}
安全リレー
内部電源 24V
OP非常停止
ボタン
TB非常停止
ボタン
EMG2
EMG2
入力
検知
回路
10μF
*1)Each of the connectors, EMG1 and
EMG2, are assigned with the same
pin number, creating two systems
for each terminal. It is absolutely
necessary to connect the two
systems.
*2)The T/B emergency stop button
connected with the controller.
*3)Emergency stop input relay.
*4)Refer to the Standard specification
manual or Special specification
manualfor the enabling device.
*1)
*1)
*3)
*5)The emergency stop input detection relay is used the controller’s internal safety relay control. If the emergency
stop input detection relay is switched OFF, emergency stop is detected and the safety relay is also switched OFF.
*6) The emergency stop button of the robot controller. (Only specification with the operation panel.)
*5)
*1)
Controller
OP Emergency
stop button
TB Emergency
stop button
*2)
*6)
Power supply in the
robot controller 24V
Short circuit
(Short-circuited)
Short circuit
(Short-circuited)
Door switch input
Safety
fence door
Enabling
device
*4)
Mode output
Emergency stop output
Error output
Internal emergency stop
circuit
Safety relay
Emergency stop switch
(2- contact type)
Peripheral
equipment
Input
detection
circuit