Mitsubishi Electric CR750-D Instruction Manual page 57

<Wiring example 4>: Connect the emergency stop switch of peripheral equipment, and the door switch to two controllers, and it
interlocks. Connect the enabling device to the robot controller.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>
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.
Controller #1
Power supply in the robot
controller 24V
OP
Emer -
gency stop
OP非常停止
button ボタン
*6)
10μF
TB非常停止
*3)
ボタン
TB
Emer -
gency stop
button
Safety relay
安全リレー
Input
入力
detection
検知
circuit
回路
Internal emergency
stop circuit 内部非常停止回路
Controller #2
Power supply in the robot
controller 24V
OP
Emer -
gency stop OP非常停止
ボタン
button
*6) 10μF
TB非常停止
*3)
ボタン
TB
Emer -
gency stop
button
Safety relay
安全リレー
Input
入力
detection
検知
circuit
回路
Internal emergency
内部非常停止回路
stop circuit
*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.2-29 ： Example of safety measures （Wiring example 4）
CNUSR11/CNUSR12
内部電源 24V
1
Not connected
未接続
2
3
*4)
4
RA
5
6
7
Door switch input
ﾄﾞｱｽｲｯﾁ入力
8
RA
9
10
RA
Enabling
ｲﾈｰﾌﾞﾘﾝｸﾞ
device
ﾃﾞﾊﾞｲｽ
*5)
*7)
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
CNUSR11/CNUSR12
内部電源 24V
1
Not connected
未接続
2
3
*4)
4
RA
5
6
7
Door switch input
ﾄﾞｱｽｲｯﾁ入力
8
RA
9
10
RA
Enabling
ｲﾈｰﾌﾞﾘﾝｸﾞ
device
ﾃﾞﾊﾞｲｽ
*5)
*7)
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
*1)
Emergency stop
周辺装置
output of periph -
の非常停止
eral equipment
出力
Door switch output
ドアスイッチ出力
Safety fence
door
安全柵のドア
*1)
Emergency stop
周辺装置
output of periph -
の非常停止
eral equipment
出力
*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.
If necessary to stop two robots simultaneously by one emergencystop
switch please use the 4 contact type emergency stop switch.
*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.
2Unpacking to installation
Emergency stop switch
非常停止スイッチ
(4-contact type)
（4接点タイプ）
Peripheral equipment
周辺装置
Power supply
周辺装置側
24V
電源24V
周辺装置内部
非常停止回路
Circuit
Monitor
監視
Monitor
監視
Monitor
監視
Installation 2-45