Mitsubishi Electric Melfa CR800-05VD Instruction Manual page 27

<Wiring example 2>: Using a safety sensor (such as an area sensor) to switch between collaborative operation mode and high-
speed operation mode
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>
If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency stop state.
<Operation of Safety input 1>
By connecting a safety sensor to this input, it is possible to make the robot switch to high-speed operation mode
(safety input 1 closed) once someone leaves the vicinity of the robot. The robot can also be made to switch to col -
laborative operation mode (safety input 1 open) when someone nears the robot.
+24V
+3.3V
+3.3V
Internal emergency stop circuit
*1) The CNUSR11 port and SDI1 port both have two rows of terminals, indicating that there are two channels. Both channels must be
connected.
*2) This is the emergency stop switch of the teaching pendant that is connected to the robot controller.
*3) If a Safety extension unit is not connected to the robot controller, the error H2260 "Safety function execution disabled (No extended
safety unit)" will occur.
*4) Refer to the section Page 25, "2.3.6 Connecting the safety extension unit to the controller"
Fig.2-11 ： Examples of safety measures (Wiring example 2)
T/B emergency stop switch
*2
Internal power supply 24V
+3.3V
+3.3V
+3.3V
+3.3V
*1
CNUSR11
+24V
14/7
30/23
+24V
13/6
29/22
+24V
12/5
28/21
10/3
Emergency stop
26/19
output
11/4
27/20
8/1
24/17
RIO
Installation and connectionInstallation 2-18
2Unpacking to installation
Emergency stop switch
(2-contact type)
Door switch
input
Mode selector
switch input
Safety sensor
*4
Safety input 1
(SDI1)
A1 B1
Mode output
*1
A2 B2
Error output
Safety
extension
unit
RIO1
for examples of safety input 1 connections.
Peripheral
equippment
COM+
*3