Mitsubishi Electric CR800-D Series Standard Specifications Manual Download Page 54

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3-42

Emergency stop input and output etc.

3 Controller

3.6 Emergency stop input and output etc.

Do wiring of the external emergency stop, the special stop input, the door switch, and the mode selector

switch from the "special input/output" terminal connector.

Table 3-3: Special input/output terminal

*At the time of the power supply OFF, the output point of contact is always open.

[Note] Wire for each input terminal as shown in

Fig. 3-6

The contact capacity of each input/output terminal is DC24V/100mA. Do not connect the equipment

except for this range. The use exceeding contact capacity causes failure.

In the customer's system, do not ground the + side of 24V power supply prepared by customer for

connect to the controller. (related with emergency stop and parallel input/output) If it connects with

the controller under the condition that the + side is grounded, it will lead to failure of controller.

[Note] If a stop signal or servo OFF signal is input simultaneously with a door switch open/emergency stop

input, the error, H056n “Servo sys. error (A/D)” may occur.

When a door switch open/emergency stop is input, the robot turns off the servo after it stops. It is

unnecessary to input a stop signal or servo OFF signal. To input a stop signal or servo OFF signal

with a door switch open/emergency stop input, wait for 100ms or more after a door switch open/

emergency stop input.

Pin number assignment of each terminal and the circuit diagram are shown in

Fig. 3-6

3.6.1 Connection of the external emergency stop and mode selector switch

The input terminals for the external emergency stop, door switch, and mode selector switch are arranged as
shown in

Fig. 3-6

. Customers should be sure to prepare the external emergency stop, door switch, and

mode selector switch, etc. and use the robot while these are connected. Connection procedures are shown
below.
In addition, refer to

Page 100, "6.1.7 Examples of safety measures"

for the information on the emergency

stop connection and cautions.

[Caution] The emergency stop circuit is duplicated inside the controller. The emergency stop switch uses a

double contact-type switch, so please be sure to fix both of the contacts to the connector pins as
shown below in order to ensure the wiring is duplicated. An error will continue to occur in the event
that only one of the pins is connected.

1) Please prepare the emergency stop switch, door switch, and mode selector switch.
2) Connect the contacts of each switch to the contacts as shown below:

a) External emergency switch

CNUSR11 connector "between 7 and 23" and "between 14 and 30".

b) Door switch

CNUSR11 connector "between 6 and 22" and "between 13 and 29".

c) Mode selector switch

CNUSR11 connector "between 5 and 21" and "between 12 and 28".

[Caution] Be sure to use a shield cable for the emergency stop wiring cable and dedicated stop input wiring

cable

And when operating in an environment that is easily affected by noise, be sure to install the

ferrite core (recommended model name: E04SR301334, manufacturer: Seiwa Electric Mfg. Co.,
Ltd.). Be sure to place the ferrite core in 300mm or less from the connecting terminal section.

Item

Name

Function

Input

Emergency stop

Applies the emergency stop. Dual line, normal close

Input

Special stop input

Applies the stop. (Refer to

Page 46, "3.6.2 Special stop input (SKIP)"

)

Input