Cr760 Controller - Mitsubishi Electric CR750-D Instruction Manual

2Unpacking to installation

(3) CR760 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>
Controller
コントローラ
OP Emergency
OP非常停止
stop button
ボタン
*6)
TB Emergency
TB非常停止
stop button
ボタン
*2)
Input
入力
detection
検知
circuit
回路
Internal emergency stop
内部非常停止回路
circuit
*5)The emergency stop input detection relay is used 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.
The emergency stop button of the robot controller. (Only specification with the operation panel.)
*6)
Fig.2-36 ： Example of safety measures (Wiring example 1)
2-52 Installation
If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency
stop state.
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)
EMG1
1/ 2
Short circuit
短絡
13/14
(Short-circuited)
3/ 4
15/16
5/ 6
Short circuit
短絡
17/18
(Short-circuited)
9/10
Door switch input
ﾄﾞｱｽｲｯﾁ入力
21/22
7/ 8
19/20
Enabling
ｲﾈｰﾌﾞﾘﾝｸﾞ
device
ﾃﾞﾊﾞｲｽ
*4)
*1)
EMG2
5/ 6
}
Emergency stop output 非常停止出力
17/18
7/ 8
}
Mode output
モード出力
19/20
*1)
EMG2
11/12
}
Error output エラー出力
23/24
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
*1)Each of the connectors, EMG1 and
EMG2, are assigned with the same
pin number, creating two systems
for each terminal. It is absolutely
necessary to connect the two
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 Special specification
manualfor the enabling device.
Peripheral
equipment 周辺装置