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<Wiring example 3>: Connect the emergency stop switch, door switch, and enabling device of peripheral equipment to the con -
troller. The power supply for emergency stop input uses the power supply of peripheral equipment. Monitor
the emergency stop state by the peripheral equipment side.
<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. And, if the emergency stop switch of OP or T/B is pushed in the state of the power of con -
troller OFF, peripheral equipment state can be the emergency stop also.
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 terminal assigned with the respectively same pin number as connector: CNUSR1 and CNUSR2 and
each is dual line. Always connect the two lines.
*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.6-8 ： Example of safety measures (CR751 wiring example 3)
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
*6)
1/ 6
Not connected
未接続
2/ 7
3/ 8
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
Power supply
周辺装置側
24V
電源24V
Circuit
周
辺
装
置
側
内
部
回
路
Monitor
監視
Monitor
監視
Safety 6-150
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