Mitsubishi CRn-500 Series Instruction Manual page 3

About the power supply synchronization with the robot controller.
Thank you for purchasing the Mitsubishi Industrial Robot MELFA Series.
This document explains the circuit connection for enhancing the safety in the addition axis connection system of
the Mitsubishi Electric industrial robot.
Therefore, check the content, and make correct circuit connection.
<Supplementary contents >
How to synchronize the power supply of the robot controller and the servo amplifier for addition axes is shown. So,
the servo ON/OFF state of the addition axis can be synchronized with the servo ON/OFF state of the robot arm.
However, when using the CR1-571/CR1B-571 controller, the servo sequence of the robot controller and the
synchronization cannot be taken. Therefore, please make the sequence by the customer using the external
input/output function of controller attachment. Table 1 shows the difference of function between the CR1/CR1B
controller and CR2A/CR2B/CR3/CR4/CR7/CR8 controller.
Table 1:The state of Magnet contactor control output of addition axis in using the addition axis function.
The operation state and the servo ON/OFF condition of the robot arm
Note 1)
No
MODE T/B
switch Existence
1
－ －
2
－ －
3 － －
4 AUTO Exists
5 AUTO Exists
6 TEACH Exists
7 TEACH Exists
8 TEACH Exists
9 TEACH None
10
－ －
11
－ －
Note 1） It is shown that "-" does not ask the state at that time.
Note 2） ON:The switch pushed in, OFF: The switch sticks out
Note 3） In the case of the CR1/CR1B controller, shows the contact state of the emergency stop output.
In the case of the CR2A, CR2B, CR3, CR4, CR7, and the CR8 controller, shows the contact state of the main circuit contact control output for
○： Contact opening, ×： Contact closing
CAUTION
Supplemental Instruction
REMOVE T/B
T/B
T/B Deadman
Ena/Dis
switch switch
switch
Note2） Note2）
－ － －
－ － －
－ － －
Disable OFF
－
Disable － －
Enable OFF ON
－ － ON
OFF
－ －
－ － －
－ － －
－ － －
Please refer to the example of the circuit shown in this document, and make circuit
connection which can take the power supply synchronization of the robot controller
and the servo amplifier for addition axes. When that is not right, the cases where
servo-off of no axes including the addition axis is occur, and it becomes the cause of
the damage or the personal injuries.
The trigger to which the
servo ON/OFF state of the
Servo robot arm is changed .
ON/OFF
state
The emergency stop switch
was pushed from the control
－
panel.
The external emergency stop
－
signal is active.
The emergency stop switch
－
of T/B was pushed.
ON
ON
ON
The door switch is opened.
OFF
OFF
ON
The servo error occurred
－
The power supply was
－
turned off
1/3
State of the output contact
classified by controller
The servo
Note 3)
ON/OFF
state of the
CR1 CR2A
robot arm
CR1B CR2B
OFF
○ ○
OFF
○ ○
OFF ○ ○
OFF
○ ○
OFF ○ ○
Keep ON × ×
OFF × ○
OFF
○ ○
Keep ON × ×
OFF ×
○
OFF
○ ○
BFP-A8107-C03-A
CR4,CR3
CR7,CR8
○
○
○
○
○
×
○
○
×
○
○