Mitsubishi MELFA RH-3FH-D Series Special Specifications Manual page 155

<Wiring example 2>: Connect the emergency stop switch of peripheral equipment to the controller.
The power supply for emergency stop input uses the power supply of peripheral equipment.
<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.
Controller
OP Emergency
stop button
OP非常停止
ボタン
*6)
TB Emergency
stop button
TB非常停止
ボタン
*3)
Internal emergency stop
内部非常停止回路
circuit
*3) The T/B emergency stop button connected with the controller.
*4) Emergency stop input relay.
*5)
Refer to Standard specification manual for the enabling device.
*6) The emergency stop button of the robot controller.
(Only specification with the operation panel.)
*7) The emergency stop input detection relay uses the controller's internal safety relay control. If the
emergency stop input detection relay is switched OFF, emergency stop is detected and the safety relay
is also switched OFF.
Fig.6-2 ： Example of safety measures （CR750 wiring example 2）
Power supply in the
CNUSR11/CNUSR12
robot controller 24V
内部電源 24V
*4)
RA
RA
RA
*7)
Safety relay
安全リレー
CNUSR2
16/17
41/42
*1)
1
Not connected 未接続
2
3
4
5
6
7
Door switch input
ﾄﾞｱｽｲｯﾁ入力
8
9
10
Enabling
ｲﾈｰﾌﾞﾘﾝｸﾞ
device
ﾃﾞﾊﾞｲｽ
*5)
13
}
Emergency stop output
非常停止出力
14
11
*1) Each of the connectors,
}
Mode output
モード出力
12
*2)
*2) You can see in the diagram that
}
Error output
エラー出力
Emergency stop switch
非常停止スイッチ
(2- contact type)
（2接点タイプ）
Power supply in
周辺装置側電源
the Peripheral
Safety
24V
equipment 24V
安全柵のドア
fence door
CNUSR11 and CNUSR12, are
assigned with the same pin
number, creating 2 systems in
each terminal. It is absolutely
necessary to connect the 2
systems.
connector CNUSR2 has 2
terminals and 2 systems (16/17
indicates 2 terminals at pin
number 16 and pin number 17).
It is absolutely necessary to
connect the 2 systems.
6Safety
Peripheral
equipment
周辺装置
Safety 6-144