Mitsubishi Electric CR800-D Series, Standard Specifications Manual

Page: 56 / 128

3-44 Emergency stop input and output etc.
3 Controller
Fig.3-6: External emergency stop connection
Place the emergency stop switch in an easily operable position, and be sure to
wire it to the emergency stop correctly by referencing
Page 100, "6.1.7 Examples
of safety measures" . This is a necessary measure in order to ensure safe
operation so that the robot can be stopped immediately by pressing the
emergency stop switch in the event that the robot malfunctions.
14
30
Door switch input
*1)
13
29
12
28
11
27
10
26
8
24
7
23
6
22
5
21
4
20
3
19
1
17
(Customer) (Customer)
Mode selector
switch input
Door switch input
Mode output
+24V
+24V
+24V
+24V
+24V
+24V
+24V
+24V
+3.3V
+3.3V
+3.3V
+3.3V
+3.3V
+3.3V
+3.3V
+3.3V
+3.3V
+3.3V
+3.3V
+3.3V
Robot error output
Mode selector
switch input
*1)The terminal can be used only for the external emergency stop input to the robot controller.
Please do not carry out an insulation pressure test. Moreover,
it becomes the cause of failure if it connects incorrectly.
Please refer to the example of safety
measures of "Specifications Manual".
Internal circuit structure
(Controller side)
T/B emergency stop
CNUSR11
CNUSR11
CNUSR11
CNUSR11
Control
circuit 2
Control
circuit 1
Emergency stop
output
External emergen-
cy stop input
*1)
External emergen-
cy stop input
Mode output
Robot error output
Emergency stop
output
CAUTION
CAUTION