Mitsubishi Electric CR750-D Instruction Manual page 44

2Unpacking to installation
(2) CR751 controller
An example of external emergency stop connection is shown below. Details of arrangement of connectors for
exclusive input/output signals and the pin assignments are shown in the following pages.
(Customer)
（お客様配線側）
CNUSR1
18
43
20
45
17
42
19
44
CNUSR2
16
41
17
Please do not carry out an insulation pressure test.
CAUTION
警告 絶縁耐圧試験は行なわないでください。
Moreover, it becomes the cause of failure if it
また誤って接続した場合は故障の原因となります。
connects incorrectly.
*1) This terminal is opened at factory shipping (unconnected). If power supply inside the controller is used, short-circuit the terminal.
*2) This terminal can be used only for the external emergency stop input to the controller. The terminal cannot be used for the output
signal of OP emergency stop or TB emergency stop because the controller's internal circuit contains the input detection circuit
and a capacitor.
(Do not use the terminal for other purposes such as monitoring the test pulse outputs, or a false detection may occur.)
[Note] In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the con -
troller. (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.
Fig. 2-19 ： External emergency stop connection (CR751 controller)
CAUTION
2-32 Installation
Internal circuit structure
内部回路構成
(Controller side)
（コントローラ側）
TB emergency stop
Mode output
モード出力
Emergency
非常停止出力
stop output
Input
入力
detection
検知
Mode output circuit
モード出力
回路
Emergency
非常停止出力
stop output
Robot error
ロボットエラー出力
output
Input
入力
Robot error
detection
ロボットエラー出力 検知
output
circuit
回路
Place the emergency stop switch in an easily operable position, and be sure to wire it
to the emergency stop correctly by referencing
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.
TB
非常停止
+24V
Relay
10μF RA
24G
+24V
24G
Relay
RA
+24V
24G
Relay
RA
+24V
24G
Relay
10μF RA
24G
24G +24V
Relay
RA
+24V
24G
Relay
RA
24G
Please refer to the example of safety measures
of "Standard Specifications Manual".
(Customer)
（お客様配線側）
CNUSR1
*1)
1
Short
短絡
26
2
External emergency
外部非常停止入力
stop input
27
*1)
3
Short
短絡
28
4
Door switch input
ドアスイッチ入力
29
5 Enabling device
イネーブリング
input
デバイス入力
30
*1)
6
短絡 Short
31
7 External emergency
外部非常停止入力
stop input
32
*1)
8
Short
短絡
33
9
Door switch input
ドアスイッチ入力
34
10
Enabling device
イネーブリング
input
デバイス入力
35
Page 42, "2.2.9 Examples of safety
*2)
*2)