Mitsubishi Electric CR750-D Instruction Manual page 51

Pin
Name
No.
10 DOOR21
11 AXMC11
12 AXMC21
Note1) The reserved pins cannot be used. Do not wire the pins.
Table 2-10 ： Pin assignment (EMG2)
Pin
Name
No.
1 SKIP11
2 SKIP21
3 SKIP31
4 SKIP41
5 EMGOUT11
6 EMGOUT21
7 MODEOUT11
8 MODEOUT21
9
10
11 ERR11
12 ERR21
Note1) The reserved pins cannot be used. Do not wire the pins.
Examples of Safety Measures are shown in
Note1)
Remarks
Function
Connection of door Detecting the
opening and clos -
switch
ing of a door.
This pin and pin 22
is a pair.
Magnet contactor To synchronize an
control connector additional axis to a
output for addi -
robot's servo ON/
tional axes OFF.
This pin and pin 23
is a pair.
Magnet contactor To synchronize an
control connector additional axis to a
output for addi -
robot's servo ON/
tional axes OFF.
This pin and pin 24
is a pair.
Note1)
Remarks
Function
Dedicated stop This pin and pin 13
input common is a pair.
(COM)
SKIP21 common This pin and pin 14
(COM) is a pair.
SKIP31 common This pin and pin 15
(COM) is a pair.
SKIP41 common This pin and pin 16
(COM) is a pair.
Emergency stop Confirming the
output presence/absence
of an emergency
stop.
This pin and pin 17
is a pair.
Emergency stop Confirming the
output presence/absence
of an emergency
stop.
This pin and pin 18
is a pair.
Mode output Confirming the
controller opera -
tion mode.
This pin and pin 19
is a pair.
Mode output Confirming the
controller opera -
tion mode.
This pin and pin 20
is a pair.
Reserved
Reserved
Robot error output This pin and pin 23
is a pair.
Robot error output This pin and pin 24
is a pair.
Page 42, "2.2.9 Examples of safety
Pin
Name
Function
No.
22 DOOR22 Door switch input
23 AXMC12 Magnet contactor
control connector
output for addi -
tional axes
24 AXMC22 Magnet contactor
control connector
output for addi -
tional axes
Pin
Name
Function
No.
13 SKIP12 Dedicated stop
input common
14 SKIP22 (801) SKIP2 input
15 SKIP32 (802) SKIP3 input
16 SKIP42 (803) SKIP4 input
17 EMGOUT12 Emergency stop
output
18 EMGOUT22 Emergency stop
output
19 MODEOUT11 Mode output
20 MODEOUT21 Mode output
21 Reserved
22 Reserved
23 ERR12 Robot error output This pin and pin 11
24 ERR22 Robot error output This pin and pin 12
2Unpacking to installation
Note1)
Remarks
Detecting the
opening and clos -
ing of a door.
This pin and pin 10
is a pair.
To synchronize an
additional axis to a
robot's servo ON/
OFF.
This pin and pin 11
is a pair.
To synchronize an
additional axis to a
robot's servo ON/
OFF.
This pin and pin 12
is a pair.
Note1)
Remarks
This pin and pin 1
is a pair.
This pin and pin 2
is a pair.
This pin and pin 3
is a pair.
This pin and pin 4
is a pair.
Confirming the
presence/absence
of an emergency
stop.
This pin and pin 5
is a pair.
Confirming the
presence/absence
of an emergency
stop.
This pin and pin 6
is a pair.
Confirming the
controller opera -
tion mode.
This pin and pin 7
is a pair.
Confirming the
controller opera -
tion mode.
This pin and pin 8
is a pair.
is a pair.
is a pair.
measures".
Installation 2-39