External I/O Signals That Can Be Used For Preventative Safety Measures - Mitsubishi Electric CR800-05VD Standard Specifications Manual

6 Safety

6.1.2 External I/O signals that can be used for preventative safety measures

Table 6-3: External I/O signals that can be used for preventative safety measures
Signal
External emer-
gency stop
Note1)
Door switch
Note1)
input
Stop
Servo OFF
Automatic
operation
enable
Safety input 1
Emergency
stop output
In servo ON
Waiting
In alarm
Operation sta-
Note2)
tus
Note1) The external emergency stop input and the door switch input have duplicate NC contacts for redundancy.
Thus, if the emergency stop input circuit is opened when the robot is started up, the robot will not operate.
Refer to Page 95, "6.1.3 Examples of safety
And, refer to
tings"for the function of the door switch input and the mode selector switch input.
Note2) Safety outputs of the safety extension unit can also output the operation status. For information on how to
set this signal, refer to the Collaborative Robot: Detailed explanations of functions and operations.
All output signals listed in
of safety extension unit.
6-94 Safety
Connection
Parameter
point
Connector -
CNUSR11
-
I/O interface STOP,
STOP2
SRVOFF
AUTOENA
Connector -
SDI1
(Safety exten-
sion unit)
Connector -
CNUSR11
I/O interface SRVON
STOP,
STOP2
Connector ERRRESET Outputs when an alarm occurs in the
CNUSR11
I/O interface SFMODE
Page 65, "(1) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Set-
Table 6-3 are non-safety output. If system requires safety output, please use that
Functions
This servo power is shut off, and the
robot stops immediately.
The program execution is stopped, and
the robot stops. The servo power is not
shut off.
The servo power can be shut off.
Disables automatic operation when
inactive.
Switches between collaborative opera-
tion mode and high-speed operation
mode.
Outputs the input signal of external
emergency stop or emergency stop
switch of T/B turned on.
The servo power ON/OFF state is out-
put.
Outputs that the robot is temporarily
stopped.
robot.
Outputs the operation status (high-
speed/standard/low-speed).
measures"for details.
Usage method
Externally installed emergency stop
switch.
Stopping at high-level error occurrence.
Machine guard door switch.
The robot is stopped when a peripheral
device fault occurs. The servo power is
not shut off.
The robot is stopped when a peripheral
device fault occurs. The servo power is
also shut off.
Door switch on safety protection fence.
By connecting a safety sensor to this
input, it is possible to make the robot
switch to high-speed operation mode
once someone leaves the vicinity of the
robot. The robot can also be made to
switch to collaborative operation mode
when someone nears the robot.
Display and warn the pilot lamp, the
input signal of external emergency stop
or the emergency stop switch of T/B
turned on.
The servo power ON/OFF state is
shown and alerted with the display
lamps.
The temporary stop state is shown and
alerted with the display lamps.
The alarm state is shown and alerted
with the display lamps.
The operation status is indicated by the
Status indicator LED.