Mitsubishi Electric CR750-D Instruction Manual page 62

2Unpacking to installation
<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>
Controller #1
コントローラ #1
TB emer -
TB非常停止
gency stop
ボタン
button
10μF
*2)
Input
入力
detection
検知
circuit
回路
Internal emergency
内部非常停止回路
stop circuit
Controller #2
コントローラ #2
TB emer -
gency stop TB非常停止
ボタン
button
10μF
*2)
Input
入力
detection
検知
circuit
回路
Internal emergency
内部非常停止回路
stop circuit
*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.2-34 ： Example of safety measures (Wiring example 4)
2-50 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.
*1)
Power supply in the
CNUSR1
内部電源 24V
robot controller 24V
1/ 6
未接続
26/31
2/ 7
*3)
27/32
RA
3/ 8
28/33
4/ 9
Door switch input
29/34
RA
5/10
30/35
RA
*5)
20/19
Safety relay
Emergency stop output
非常停止出力
安全リレー
45/44
18/17
43/42
*1)
CNUSR2
16/17
41/42
*1)
Power supply in the
CNUSR1
内部電源 24V
robot controller 24V
1/ 6
未接続
26/31
2/ 7
*3)
27/32
RA
3/ 8
28/33
4/ 9
Door switch input
ﾄﾞｱｽｲｯﾁ入力
29/34
RA
5/10
30/35
RA
*5)
20/19
Safety relay
Emergency stop output
安全リレー
45/44 非常停止出力
18/17
}
43/42
*1)
CNUSR2
16/17
}
41/42
Emergency stop
output of periph -
Not connected
eral equipment
ﾄﾞｱｽｲｯﾁ入力
Door switch output
ドアスイッチ出力
Enabling ｲﾈｰﾌﾞﾘﾝｸﾞ
device
ﾃﾞﾊﾞｲｽ
Safety fence door
*4)
}
Mode output
モード出力
}
Error output エラー出力
Emergency stop
output of periph -
eral equipment
Not connected
Enabling
ｲﾈｰﾌﾞﾘﾝｸﾞ
device
ﾃﾞﾊﾞｲｽ
*4)
Mode output
モード出力
*1) Each of the connectors, CNUSR1 and CNUSR2, are assigned with
the same pin number, creating 2 systems in each terminal. It is
Error output エラー出力
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) The T/B emergency stop button connected with the controller.
Emergency stop switch
非常停止スイッチ
(4-contact type)
（4接点タイプ）
周辺装置
Power supply
の非常停止
出力
安全柵のドア
周辺装置
の非常停止
出力
Peripheral equipment
周辺装置
周辺装置側
24V
電源24V
周辺装置内部
Circuit
非常停止回路
Monitor
監視
Monitor
監視
Monitor
監視