Mitsubishi Electric MELFA RH-FRH-D, Installation Description

Page: 86 / 166

Safety circuits Connection
4 - 16
Example 3
Connect the EMERGENCY-STOP switch of peripheral equipment, and the door switch to two control-
lers, and it interlocks. Connect the enabling switch to the robot controllers.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 the controller is OFF, peripheral equipment state can be the EMERGENCY-STOP also.
NOTE
To facilitate clarity, some information has been omitted from the figure; the figure therefore devi-
ates from the actual conditions of the product.
R002726E
Fig. 4-17:
Configuration of a safety circuit (Example 3)
Controll
er 1
EMERGENCY-STOP Teaching Box
Internal
safety
circuit
Door switch input
Error output
Output for
operating mode
Door
EMERGENCY-STOP
output
24 V Power supply in the
controller
Monitor
Circuit
Co
n
tro
ll
e
r 2
Mode selector
switch
Monitor
Monitor
EMERGENCY-STOP Teaching Box
Internal
safety
circuit
Door switch input
Error output
Output for
operating mode
24 V Power supply in the
controller
+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
+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
Mode selector
switch
EMERGENCY-STOP
output