Mitsubishi MELFA CR1QA-700, Special Specifications Manual

Page: 111 / 146

6Safety
Safety 6-100
Fig.6-2 ： Example of safety measures （Wiring example 2）
1A/1B
2A/2B
3A/3B
4A/4B
5A/5B
6A/6B
8A/8B
9A/9B
1A/1B
2A/2B
3A/3B
4A/4B
5A/5B
6A/6B
EMGIN1/2
EMGOUT1/2
付加軸用コンタクタ
コントロール出力
内部非常停止回路
ロボットコントローラ
未接続
非常停止スイッチ
（2接点タイプ）
エラー出力
モード出力
周辺装置
TB非常停止
ボタン
OP非常停止
ボタン
}
RA
RA
RA
7A/7B
}
}
10A/10B
11A/11B
ロボットコント
ローラ内電源 24V
ﾄﾞｱｽｲｯﾁ入力
安全柵のドア
周辺装置側電源
24V
ｲﾈｰﾌﾞﾘﾝｸﾞ
ﾃﾞﾊﾞｲｽ
<Wiring example 2>: Connect the emergency stop switch of peripheral equipment to the robot controller.
The power supply for emergency stop input uses the power supply of peripheral equipment.
<Operation of the emergency stop>
If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the
emergency stop state.
*1)EMGIN1/2, and EMGOUT1/2 have
the two terminals separately, and
show that they are the two lines.
Always connect the two lines.
*2) 1A/1B, and 2A/2B terminal of
EMGIN is short-circuited at
factory shipments. Remove it, and
connect the power supply of
peripheral equipment.
Connect the power supply of
peripheral equipment by the
polarity shown in the figure.
*3)5A/5B, and 6A/6B terminal of
EMGIN is short-circuited at
factory shipments.
Remove it and connect with the
power supply ground of peripheral
equipment.
*4) The emergency stop button of the
robot controller operation panel.
*5) The emergency stop button of T/
B connected to the robot
controller.
*6) Emergency stop input relay.
*1)
*4)
*5)
*6)
[Caution] Since we have omitted the information in part because of explanation, there is the section different from the
product. Also refer to Page 65, "Fig.3-20 ： External emergency stop connection" .
Robot controller
Power supply in the
robot controller 24V
OP
Emer
-
gency
stop
button
TB
Emer
-
gency
stop
button
*3)
Door switch input
Safety
fence door
Enabling
device
Error output
Mode output
Contactor control
output for addi
-
tional axes
Internal emergency stop
circuit
Emergency stop switch
(2- contact type)
Peripheral
equipment
Power supply in
the Peripheral
equipment 24V
*2)
Not connected
*2)