Mitsubishi Electric Melfa CR800-05VD Instruction Manual page 22

2Unpacking to installation
Arrangement of connectors for exclusive input/output signals are shown in
connectors for exclusive input/output signals are shown in
Fig. 2-8 ： Arrangement of connectors for exclusive input/output signals
Table 2-3: Pin assignment (CNUSR11)
Pin
Name
No.
1 ROBOTERR21
2 AXMC21
3 EMGOUT21
4 MODEOUT21
5 OPKEY2COM(2
4V)
6 24V2 for DOOR Connection of door
7 EXTEMG21
8 ROBOTERR11
9 AXMC11
10 EMGOUT11
11 MODEOUT11
2-13 Installation and connectionInstallation
Function Remarks
Robot error output This pin and pin 17 is a
pair.
Additional axis Cannot be used
synchronization
output
Emergency stop Confirming the
output presence/absence of
an emergency stop.
This pin and pin 19 is a
pair.
Mode output Confirming the
controller operation
mode.
This pin and pin 20 is a
pair.
Mode selector Switching an operation
switch input mode of a controller.
This pin and pin 21 is a
pair.
Detecting the opening
switch and closing of a door.
This pin and pin 22 is a
pair.
Construction of Constructing an
external external emergency
emergency stop stop function.
input circuit
Robot error output This pin and pin 24 is a
pair.
Additional axis Cannot be used
synchronization
output
Emergency stop Confirming the
output presence/absence of
an emergency stop.
This pin and pin 26 is a
pair.
Mode output Confirming the
controller operation
mode.
This pin and pin 27 is a
pair.
Fig. 2-8. The pin assignments of the
Table 2-3 and Table 2-4.
Pin
Name
No.
17 ROBOTERR22 Robot error output This pin and pin 1 is a
18 AXMC22 Additional axis
synchronization
output
19 EMGOUT22 Emergency stop
output
20 MODEOUT22 Mode output
21 OPKEY2 Mode selector
switch input
22 DOOR2 Connection of door
switch
23 EXTEMG22 Construction of
external
emergency stop
input circuit
24 ROBOTERR12 Robot error output This pin and pin 8 is a
25 AXMC12 Additional axis
synchronization
output
26 EMGOUT12 Emergency stop
output
27 MODEOUT12 Mode output
Function Remarks
pair.
Cannot be used
Confirming the
presence/absence of
an emergency stop.
This pin and pin 3 is a
pair.
Confirming the
controller operation
mode.
This pin and pin 4 is a
pair.
Switching an operation
mode of a controller.
This pin and pin 5 is a
pair.
Detecting the opening
and closing of a door.
This pin and pin 6 is a
pair.
Constructing an
external emergency
stop function.
pair.
Cannot be used
Confirming the
presence/absence of
an emergency stop.
This pin and pin 10 is a
pair.
Confirming the
controller operation
mode.
This pin and pin 11 is a
pair.