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(2) CR751 controller
<Wiring example 1>: Connect the emergency stop switch of peripheral equipment to the controller.
The power supply for emergency stop input uses the power supply in the controller.
<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
コントローラ
*2)
TB Emergency
TB非常停止
stop button
ボタン
Internal emergency stop
内部非常停止回路
circuit
*1) Each of the connectors, CNUSR1 and CNUSR2, are assigned with the same pin number, creating 2
systems in each terminal. It is absolutely necessary to connect the 2 systems.
*2) The T/B emergency stop button connected with the controller.
*3) Emergency stop input relay.
*4)
Refer to Standard specification manual for the enabling device.
*5) 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.6-6 ： Example of safety measures (CR751 wiring example 1)
Power supply in the
robot controller 24V
内部電源 24V
26/31
*3)
27/32
RA
28/33
29/34
RA
30/35
RA
*5)
20/19
Safety relay
安全リレー
45/44
18/17
43/42
16/17
41/42
*1)
CNUSR1
1/ 6
*6)
Not connected
短絡
2/ 7
3/ 8
Short circuit
短絡
(Short-circuited)
4/ 9
Door switch input
ﾄﾞｱｽｲｯﾁ入力
5/10
Enabling
ｲﾈｰﾌﾞﾘﾝｸﾞ
device
ﾃﾞﾊﾞｲｽ
*4)
}
Emergency stop output
非常停止出力
}
Mode output
モード出力
*1)
CNUSR2
}
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）
Safety
安全柵のドア
fence door
6Safety
Peripheral
equipment
周辺装置
Safety 6-148
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