Examples Of Safety Measures - Mitsubishi MELFA RV-6S Series Standard Specifications Manual

6.1.7 Examples of safety measures

Two emergency stop input circuits are prepared on the user wiring terminal block of the controller. Create a cir -
cuit as shown below for safety measures
.
<Customer-prepared wiring>
Door switch
External emergency
stop
[Caution] Some information has been omitted for explanation proposes, so some parts may differ.
Fig.6-1 ： Example of safety measures
(1) Use a 2-contact type switch for all switches.
(2) Install a limit switch on the safety fence's door. With a constantly open contact (a contact), wire to the door
switch input terminal so that the switch turns ON (is conducted) when the door is closed, and turns OFF (is
opened) when the door is open.
(3) Use a manual-return type 2b-contact for the emergency stop button.
(4) Classify the faults into minor faults (faults that are easily restored and that do not have a great effect) and
major faults (faults that cause the entire system to stop immediately, and that require care in restoration),
and wire accordingly.
[Caution] The emergency stop input(terminal block) on the user wiring in the controller can be used for safety
measures as shown in
cable length, so refer to the following and install.
・ Switch contact .......................................... Prepare a 2-contact type.
・ Switch contact capacity........................ Use a contact that operates with a switch contact capacity of
・ Cable length................................................ The length of the wire between the switch and terminal block
・ Emergency stop output capacity....... Set it within 300 mA/24 VDC.
<Robot controller system>
MC1 MC2
＋
RA1
RA3 RA31
S/W-EMG
T/B remove
switch
24V
1
2
RA1 RA1
3
RA2
Door switch
4
RA2 RA2
RA3
5
External emergency
stop output
6
RA4
24V
1
2
RA11 RA11
3
4
RA21 RA21
5
External emergency
stop output
6
RA41
Fig. 6-1. Note that there are limits to the No. of switch contacts, capacity and
To servo main circuit power
External emergency
stop input
Operation panel
emergency stop
Teaching pendant
emergency stop
Teaching pendant
deadman switch
Teaching pendant
deadman switch
input
Software emergency
stop
MC1
MC1
approx. 1mA to 100mA/24V.
must be max. 15m or less.
Connecting an external device outside of the above range will
cause a controller failure.
External emergency
RA11
stop input
Operation panel
emergency stop
T/B remove
Teaching pendant
switch
emergency stop
Teaching pendant
deadman switch
RA21
Door switch
input
Software emergency
RA31
stop
MC2
MC2
6Safety
Teaching pendant
deadman switch
Safety 6-109