Emergency-Stop Connection; Classification Of Functions Using External Input/Output Signals - Mitsubishi Electric MELFA RV-FR-D Installation Description

EMERGENCY-STOP connection

4.3 EMERGENCY-STOP connection
Connection for EMERGENCY-STOP pushbutton is using the plug on the rear of the unit for the CR800
controller.
The EMERGENCY-STOP inputs are normally blank (see Fig. 4-11). The EMERGENCY-STOP pushbutton,
the door closing contact and the enable switch (enabling) unit must be connected by the user.
Fig. 4-10: Connection for EMERGENCY-STOP circuit
4.3.1

Classification of functions using external input/output signals

Before using the functions, note the following.
Classification
Safety signal
Non-safety signal
Tab. 4-1: Classification of functions using external input/output signals
4 - 10
Function Description
Detects EMERGENCY-STOP inputs. The safety diagnosis function for the
EMERGENCY-STOP input circuit makes the STO function meet the
requirements of Category 4, Performance Level e. At factory settings,
EMERGENCY-STOP input the STO function meets the requirements of Category 3, Performance
Level d. To make the STO function meet the requirements of Category
4, Performance Level e, change the parameter setting by referring to
section 4.3.3.
Mode selector switch input Switches the controller mode between MANUAL and AUTOMATIC.
Receives the status of the switch installed on the door of the safety
Door switch input
fence to detect the opening of the door.
Emergency stop output Monitors whether the robot is in the EMERGENCY-STOP state.
Monitors whether the robot operates in MANUAL or AUTOMATIC
Mode output
mode.
Robot error output Monitors the error status of the robot.
Additional axis Synchronizes the state of the additional axes (servo ON/OFF) with that
synchronization output of the robot arm.
CNUSR11 connector
Connection
R002721E