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3.7.2 Special stop input (SKIP)
The skip is the input signal to stop the robot. The pin 9, 34 of the CNUSR2 connector shown in
(CR750) or
Fig. 3-17
Table 3-4 ： Special stop input electric specification
Item
Type
No. of input point
Insulation method
Rated input voltage
Rated input current
Working voltage range
ON voltage/ON current
OFF voltage/OFF current
Input resistance
Response
OFF → ON
time
ON → OFF
Common method
External wire connection method
(1) CR750 controller
* Connects with CNUSR2 connector
with soldering.
Refer to
Page 86 "Fig. 3-12: Method
of wiring for external emergency stop
connection (CR750
Note) In the customer's system, do not ground the + side of 24V power supply prepared by customer for con -
nect to the controller. (related with emergency stop and parallel input/output) If it connects with the con -
troller under the condition that the + side is grounded, it will lead to failure of controller.
Fig.3-16 ： Connection of the special-stop-input (CR750)
(CR751).
Specifications
DC input
1
Photo-coupler insulation
DC24V
Approx. 11mA
DC 21.6 ～ 26.4V
（Ripple rate within 5%）
DC 8V or more / 2mA or more
DC 4V or less / 1mA or less
Approx. 2.2 ｋ Ω
1ms or less
1ms or less
1 point per common
Connector
Within 30cm
30cm以内
(CNUSR2))".
Internal circuit
330
2.2k
CNUSR2 connector
CNUSR2
Ferrite core
フェライトコア
Pass twice
2回通し
Emergency stop input and output etc. 3-90
3 Controller
Fig. 3-16
9
1A
＋２４V(COM)
34
1B
Input
入力
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