Mitsubishi Electric CR800 Series Instruction Manual page 43

2.3.7 Examples of safety measures
The controller's dedicated I/O terminal connector has a duplicate emergency stop circuit.
The safety measure examples are shown in
measures. In addition, the figure shows the normal state which is not in the emergency stop state.
[Note] ･ In the emergency-stop related wiring by the customer, if the coil (is not the contact points) of the relay
prepared by the customer is connected to the controller, please be sure to implement the measure
against the noise by the customer in the coil section. And, please also take the lifetime of noise sup -
pression parts into consideration.
･ Electric specification of the emergency-stop-related output terminal: 24V DC or less, related current
100mA or less.
･ In the customer's system, do not ground the + side of 24V power supply prepared by customer for con -
nect to the controller. (related with emergency stop and parallel input/output) If it connects with the
controller under the condition that the + side is grounded, it will lead to failure of controller.
<Wiring example 1>: Connect the emergency stop switch of peripheral equipment to the controller.
The power supply for emergency stop input uses the power supply in the controller.
<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.
Fig.2-12 ： Example of safety measures (wiring example 1）
Fig. 2-12 to Fig. 2-15. Create a circuit as shown below for safety
2Unpacking to installation
Installation and connectionInstallation 2-31