Mitsubishi MELFA RH-3FH-D Series Special Specifications Manual page 160

6Safety
<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>
Controller
コントローラ
TB Emergency
TB非常停止
stop button
ボタン
*2)
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.
*6) Connect the 24V power supply to 26/31 terminals.
Fig.6-7 ： Example of safety measures (CR751 wiring example 2)
Safety
6-149
If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency
stop state.
Power supply in the
robot controller 24V
内部電源 24V
*3)
RA
RA
RA
*5)
Safety relay
安全リレー
*1)
CNUSR1
*6)
1/ 6
未接続 Not connected
26/31
2/ 7
27/32
3/ 8
28/33
4/ 9
ﾄﾞｱｽｲｯﾁ入力
Door switch input
29/34
5/10
30/35
Enabling
ｲﾈｰﾌﾞﾘﾝｸﾞ
device
ﾃﾞﾊﾞｲｽ
*4)
20/19
}
Emergency stop output
非常停止出力
45/44
18/17
}
Mode output
モード出力
43/42
*1)
CNUSR2
16/17
}
Error output
エラー出力
41/42
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
Peripheral
周辺装置
equipment