Cr751 Controller - Mitsubishi Electric CR750-D Instruction Manual

(2) CR751 controller

<Wiring example 1>: Connect the emergency stop switch of peripheral equipment to the controller.
The power supply for emergency stop input uses the power supply in the controller.
<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.
Controller
コントローラ
*2)
TB Emergency
TB非常停止
stop button
ボタン
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, CNUSR1 and CNUSR2, are assigned with the same pin number, creating 2
systems in each terminal. It is absolutely necessary to connect the 2 systems.
*2) The T/B emergency stop button connected with the controller.
*3) Emergency stop input relay.
*4) Refer to the Standard specification manual or the Special specification manual for the enabling device.
*5) 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.2-31 ： Example of safety measures (Wiring example 1)
Power supply in the
robot controller 24V
内部電源 24V
*3)
10μF
RA
RA
RA
*5)
Safety relay
安全リレー
*1)
CNUSR1
1/ 6
*6)
Not connected
短絡
26/31
2/ 7
27/32
3/ 8
Short circuit
短絡
28/33
(Short-circuited)
4/ 9
Door switch input
ﾄﾞｱｽｲｯﾁ入力
29/34
5/10
30/35
Enabling
ｲﾈｰﾌﾞﾘﾝｸﾞ
device
ﾃﾞﾊﾞｲｽ
*4)
20/19
}
Emergency stop output
非常停止出力
45/44
18/17
}
Mode output
モード出力
43/42
*1)
CNUSR2
16/17
}
Error output
エラー出力
41/42
2Unpacking to installation
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
Installation 2-47
Peripheral
equipment 周辺装置