Mitsubishi Electric MELFA RH-FRH-D, Installation Description, Page: 85 / 166

Connection Safety circuits
FR series 4 - 15
Example 2
Connect the EMERGENCY-STOP switch, door switch, and enabling device of peripheral equipment to
the controller. The power supply for EMERGENCY-STOP input uses the internal power supply of the
controller. Monitor the EMERGENCY-STOP state by the peripheral equipment side.
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. And, if the EMERGENCY-STOP switch of Teaching Box is pushed in the state of the
power of controller OFF, peripheral equipment state can be the EMERGENCY-STOP also.
The CNUSR11 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.
R002725E
Fig. 4-16:
Configuration of a safety circuit (Example 2)
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
Monitor
Circuit
Mode selector switch
+24 V
+3,3 V
+24 V
+3,3 V
+3,3 V
+3,3 V
+3,3 V
+3,3 V
+24 V
+24 V
Monitor