Mitsubishi Electric CR750-D Instruction Manual page 56

2Unpacking to installation
<Wiring example 3>: Connect the emergency stop switch, door switch, and enabling device of peripheral equipment to the con -
troller. The power supply for emergency stop input uses the power supply of peripheral equipment. Monitor
the emergency stop state by the peripheral equipment side.
<Operation of the emergency stop>
Controller
OP Emergency
stop button OP非常停止
ボタン
*6)
TB Emergency
stop button
TB非常停止
ボタン
*3)
Input
入力
detection
検知
circuit
回路
Internal emergency stop
内部非常停止回路
circuit
*1) Each of the connectors, CNUSR11 and CNUSR12, are assigned with the same pin number, creating 2
systems in each terminal. It is absolutely necessary to connect the 2 systems.
*2) You can see in the diagram that connector CNUSR2 has 2 terminals and 2 systems (16/17 indicates 2
terminals at pin number 16 and pin number 17). It is absolutely necessary to connect the 2 systems.
*3)The T/B emergency stop button connected with the controller.
*4) Emergency stop input relay.
*5)
Refer to the Standard specification manual or the Special specification manual for the enabling device.
*6) The emergency stop button of the robot controller.
(Only specification with the operation panel.)
*7) The emergency stop input detection relay uses the controller's internal safety relay control. If the
emergency stop input detection relay is switched OFF, emergency stop is detected and the safety relay
is also switched OFF.
Fig.2-28 ： Example of safety measures （Wiring example 3）
2-44 Installation
If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency
stop state. And, if the emergency stop switch of OP or T/B is pushed in the state of the power of con -
troller OFF, peripheral equipment state can be the emergency stop also.
Power supply in the
robot controller 24V 内部電源 24V
*4)
10μF RA
RA
RA
*7)
Safety relay
安全リレー
*1)
CNUSR11/CNUSR12
1
Not connected
未接続
2
3
4
5
6
7
Door switch input ﾄﾞｱｽｲｯﾁ入力
8
9
10
Enabling
ｲﾈｰﾌﾞﾘﾝｸﾞ
device
ﾃﾞﾊﾞｲｽ
*5)
13
Emergency stop output
非常停止出力
14
11
}
Mode output モード出力
12
*2)
CNUSR2
16/17
}
Error output エラー出力
41/42
Emergency stop switch
非常停止スイッチ
(2- contact type)
（2接点タイプ）
Safety
安全柵のドア
fence door
Peripheral
周辺装置
equipment
Power sup -
周辺装置側
ply 24V
電源24V
周
Circuit
辺
装
置
側
内
部
回
路
Monitor
監視
Monitor
監視