Mitsubishi Electric MELFA RH-FRH-D, Installation Description

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Safety circuits Connection
4 - 14
4.4 Safety circuits
4.4.1 CR800 controller
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 EMER-
GENCY-STOP state.
The CNUSR11 connector is a two-level terminal block, indicating that there are two circuits
(channels). Two terminals (cable insertion holes) need to be used for one circuit.
The EMERGENCY-STOP button of the Teaching Box is connected with the controller.
NOTE
To facilitate clarity, some information has been omitted from the figure; the figure therefore devi-
ates from the actual conditions of the product.
R002724E
Fig. 4-15:
Configuration of a safety circuit (Example 1)
Controller
EMERGENCY-STOP Teaching Box
Internal
safety
circuit
Door switch input
Error output
Output for
operating mode
Peripheral
equipment
Door
EMERGENCY-STOP
output
EMERGENCY-STOP switch
(2- contact type)
24 V Power supply
in the controller
Mode selector switch
+24 V
+3,3 V
+3,3 V
+24 V
+24 V
+24 V
+3,3 V
+3,3 V
+3,3 V
+3,3 V