Mitsubishi Electric CR750-D Instruction Manual page 50

2Unpacking to installation
CAUTION
CAUTION
Arrangement of connectors for exclusive input/output signals are shown in
the connectors for exclusive input/output signals are shown in
<CR760 controller>
Non-CE marking
specification
A
CR760
POWER
!
Fig. 2-23 ： Arrangement of connectors for exclusive input/output signals
Table 2-9 ： Pin assignment (EMG1)
Pin
Name
No.
1 EMGIN24V1
2 EMGIN24V21
3 EMG11
4 EMG21
5 EXT-GND1
6 EXT-GND2
7 ENA11
8 ENA21
9 DOOR11
2-38 Installation
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.
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.
CE marking specifi -
cation
Note1)
Remarks
Function
Construction of Constructing an
external emer - external emer -
gency stop func -
gency stop input
circuit tion.
Enabling device Safety measures
connection at teaching (Servo
OFF)
This pin and pin 19
is a pair.
Enabling device Safety measures
at teaching (Servo
connection
OFF)
This pin and pin 20
is a pair.
Connection of door Detecting the
opening and clos -
switch
ing of a door.
This pin and pin 21
is a pair.
Page 42, "2.2.9 Examples of safety
Table 2-9 to
View A: Inside of CR760 drive unit
EMG1
EMG2
Pin
Name
No.
13 EMGIN24V12
14 EMGIN24V22
15 EMG12
16 EMG22
17 SG
18 SG
19 ENA12
20 ENA22
21 DOOR12
Fig. 2-23. The pin assignments of
Table 2-10.
Safety unit
(R760SFT)
Note1)
Remarks
Function
Construction of Constructing an
external emer - external emer -
gency stop func -
gency stop input
circuit tion.
Enabling device Safety measures
connection at teaching (Servo
OFF)
This pin and pin 7
is a pair.
Enabling device Safety measures
connection at teaching (Servo
OFF)
This pin and pin 8
is a pair.
Door switch input Detecting the
opening and clos -
ing of a door.
This pin and pin 9
is a pair.