Mitsubishi Electric CR750-D Series, Инструкция по эксплуатации

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2-38 Installation
2Unpacking to installation
Place the emergency stop switch in an easily operable position, and be sure to wire it
to the emergency stop correctly by referencing
Page 42, "2.2.9 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.
When connecting the power line to the EMG1 connector, be careful not to cause a
short circuit with wires sticking out from adjacent poles. And please do not apply a
solder coating to core wires to be inserted in the power line. In some cases solder
coating can result in contact failure.
Arrangement of connectors for exclusive input/output signals are shown in Fig. 2-23 . The pin assignments of
the connectors for exclusive input/output signals are shown in Table 2-9 to Table 2-10 .
Fig. 2-23 ： Arrangement of connectors for exclusive input/output signals
Table 2-9 ： Pin assignment (EMG1)
Pin
No.
Name Function
Note1)
Remarks
Pin
No.
Name
Function
Note1)
Remarks
1 EMGIN24V1 Construction of
external emer
-
gency stop input
circuit
Constructing an
external emer
-
gency stop func
-
tion.
13 EMGIN24V12 Construction of
external emer
-
gency stop input
circuit
Constructing an
external emer
-
gency stop func
-
tion.
2 EMGIN24V21 14 EMGIN24V22
3 EMG11 15 EMG12
4 EMG21 16 EMG22
5 EXT-GND1 17 SG
6 EXT-GND2 18 SG
7 ENA11 Enabling device
connection Safety measures
at teaching (Servo
OFF)
This pin and pin 19
is a pair. 19 ENA12 Enabling device
connection Safety measures
at teaching (Servo
OFF)
This pin and pin 7
is a pair.
8 ENA21 Enabling device
connection Safety measures
at teaching (Servo
OFF)
This pin and pin 20
is a pair. 20 ENA22 Enabling device
connection Safety measures
at teaching (Servo
OFF)
This pin and pin 8
is a pair.
9 DOOR11 Connection of door
switch Detecting the
opening and clos
-
ing of a door.
This pin and pin 21
is a pair.
21 DOOR12 Door switch input Detecting the
opening and clos
-
ing of a door.
This pin and pin 9
is a pair.
CAUTION
CAUTION
Safety unit
(R760SFT)
<CR760 controller>
POWER
CR760
!
Non-CE marking
specification
CE marking specifi
-
cation
A
View A: Inside of CR760 drive unit
EMG1
EMG2