Mitsubishi MELFA RH-3FH-D Series Special Specifications Manual page 158

6Safety
<Wiring example 5>: Connect the controller to the safety relay
Use the controller's emergency stop button command as an input to the safety relay.
OP TB
E-stop E-stop
[Caution]
1) This product has category 3 functionality and therefore the robot's whole unit cannot be set to category 4.
2) The controller's internal circuit has polarity. Please adhere to the polarity as detailed in the wiring examples,
particularly for emergency stop button output when using user equipment. Connect the positive side of the
user equipment (24V DC) to the terminal 2 of CNUSR11/12, then connect the emergency stop button (or
contact points) in the user equipment to across the terminals 3 and 4 of CNUSR11/12, and ultimately con -
nect the negative side (0V DC).
3) When installing a safety relay to use it as an input point of the controller's emergency stop button command,
use a safety relay that is activated by an input from one of the two systems (i.e. Omron's G9S Series).
4) The emergency stop input detection relay (internal 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.
5) When connecting emergency stop button output to an external safety relay, please take note of the polarity
and make sure that the electrical current flows in the same direction as indicated by the dotted arrows in the
two places in the diagram. If the polarity is setup incorrectly, this function will not operate correctly. Please
connect the terminal 13 of CNUSR11/12 to 24V.
Fig.6-5 ： Example of safety measures （CR750 wiring example 5）
Safety
6-147
Controller
CNUSR11
1
No connection
2
3
Internal relay
内部リレー
4
5
6
Safety relay
安全リレー
Emergency stop
非常停止出力
output
13
14
CNUSR12
1
No connection
2
3
Internal relay
内部リレー
4
5
6
Emergency stop
非常停止出力
output
13
14
24V DC
External emergency stop switch 外部非常停止スイッチ
0V DC
24V DC
24V DC
External emergency stop
外部非常停止スイッチ
switch
*2)
0V DC
24V DC
Customer equipment
お客様装置
Safety relay 安全リレー
ex)
例）オムロン社 G9SX-AD
G9SX-AD series *OMRON
No connection
T11
Safety input 1
安全入力1
T12
No connection T21
安全入力2
Safety input 2
T22
A1
24V DC
Customer Power Supply (DC 24V)
お客様電源（DC 24V）
A2
0V DC