Mitsubishi Electric CR800-05VD, Instruction Manual

Page: 22 / 72

2-13 Installation and connectionInstallation
2Unpacking to installation
Arrangement of connectors for exclusive input/output signals are shown in Fig. 2-8 . The pin assignments of the
connectors for exclusive input/output signals are shown in Table 2-3 and Table 2-4 .
Fig. 2-8 ： Arrangement of connectors for exclusive input/output signals
Table 2-3: Pin assignment (CNUSR11)
Pin
No.
Name Function Remarks
Pin
No.
Name Function Remarks
1 ROBOTERR21 Robot error output This pin and pin 17 is a
pair.
17 ROBOTERR22 Robot error output This pin and pin 1 is a
pair.
2 AXMC21 Additional axis
synchronization
output Cannot be used 18 AXMC22 Additional axis
synchronization
output Cannot be used
3 EMGOUT21 Emergency stop
output Confirming the
presence/absence of
an emergency stop.
This pin and pin 19 is a
pair. 19 EMGOUT22 Emergency stop
output Confirming the
presence/absence of
an emergency stop.
This pin and pin 3 is a
pair.
4 MODEOUT21 Mode output Confirming the
controller operation
mode.
This pin and pin 20 is a
pair. 20 MODEOUT22 Mode output Confirming the
controller operation
mode.
This pin and pin 4 is a
pair.
5 OPKEY2COM(2
4V) Mode selector
switch input Switching an operation
mode of a controller.
This pin and pin 21 is a
pair. 21 OPKEY2 Mode selector
switch input Switching an operation
mode of a controller.
This pin and pin 5 is a
pair.
6 24V2 for DOOR Connection of door
switch
Detecting the opening
and closing of a door.
This pin and pin 22 is a
pair. 22 DOOR2 Connection of door
switch Detecting the opening
and closing of a door.
This pin and pin 6 is a
pair.
7 EXTEMG21 Construction of
external
emergency stop
input circuit Constructing an
external emergency
stop function. 23 EXTEMG22 Construction of
external
emergency stop
input circuit Constructing an
external emergency
stop function.
8 ROBOTERR11 Robot error output This pin and pin 24 is a
pair.
24 ROBOTERR12 Robot error output This pin and pin 8 is a
pair.
9 AXMC11 Additional axis
synchronization
output Cannot be used 25 AXMC12 Additional axis
synchronization
output Cannot be used
10 EMGOUT11 Emergency stop
output Confirming the
presence/absence of
an emergency stop.
This pin and pin 26 is a
pair. 26 EMGOUT12 Emergency stop
output Confirming the
presence/absence of
an emergency stop.
This pin and pin 10 is a
pair.
11 MODEOUT11 Mode output Confirming the
controller operation
mode.
This pin and pin 27 is a
pair. 27 MODEOUT12 Mode output Confirming the
controller operation
mode.
This pin and pin 11 is a
pair.
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