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<Wiring example 6>: Connecting a safety relay to a robot controller
The emergency stop switch of the controller is used as an input to the safety relay.
Teaching pendant emergency stop switch
+24V
+3.3V
+3.3V
Internal
emergency
stip input 1
+24V
+3.3V
+3.3V
Internal
emergency
stip input 2
[Caution]
1) When connecting a safety relay to the system and using the emergency stop switch of the controller as an input to the
relay, select a safety relay that functions when a signal is input to either one of the two input points. (Example:
QS90SR2SP (manufactured by Mitsubishi Electric))
2) When connecting the output of the emergency stop switch to an external safety relay, set the polarity so that the elec-
tric current flows in the direction as indicated by the dotted arrows in the wiring diagram above. If the polarity is set
incorrectly, this function will not operate correctly.
Please connect 3 and 10 terminal of CNUSR11 connector to 24V.
Fig.6-6: Example of safety measures (wiring example 6)
Controller
CNUSR11
+24V
+3.3V
14
30
+3.3V
10
Emergency
stop output
+24V
+3.3V
23
+3.3V
Emergency
19
stop output
External emergency
stop switch
Example
QS90SR2SP (Mitsubishi
Electric Corporation)
No connection
COM0
X0
24V DC
26
No connection
COM1
X1
External emergency
stop switch
7
3
24V DC
6 Safety
Customer equipment
Safety relay
Safety input 1
Safety input 2
+24V
24G
24V DC
24V G
Customer power supply
(DC 24V)
Safety 6-101
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