Door Switch Function; Mode Selector Switch Function - Mitsubishi Electric MELFA CR800 Series Special Specifications Manual

3 Controller

3.6.3 Door switch function

This function acquires the status of the switches attached on the door of the safety fence, and it turns OFF the
servo to stop the robot when the door is opened. Perform wiring so that the contact opens when the door is
opened.
Follow the wiring example shown in
Examples of safety
*During automatic operation ...............When the door is opened, the servo turns OFF and the robot stops. An error
*During teaching........................................Even when the door is opened, using a selector switch allows to turn the
① Auto executing
② Teaching
Fig.3-12 ： Door switch function

3.6.4 Mode selector switch function

The mode selector switch switches the mode of the controller between MANUAL mode and AUTOMATIC mode.
Table 3-7 ： States of input terminal
AUTOMATIC (Automatic operation)
Emergency stop input and output etc.
3-81
Page 78 "Fig. 3-9: External emergency stop connection"
measures". Details of this function according to the robot status are shown below
occurs. The process of the restoration: Close the door, reset the alarm, turn
on the servo, and restart.
servo ON with the teaching pendant to operate the robot.
Mode of controller
MANUAL (Teaching)
and Page 131, "6.1.7
(Fig.
Input terminal
Open
Close
3-12).