Mitsubishi MELFA RH-3FH-D Series Special Specifications Manual page 163

<Wiring example 5>: Connect the controller to the safety relay
Use the controller's emergency stop button to input safety relay.
OP TB
E-stop E-stop
Internal relay
内部リレー
Safety relay
安全リレー
Internal relay
内部リレー
[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 two terminals 26/31, then connect the emergency stop button (or contact
points) in the user equipment to the 2-27 and 7-32 terminals, and ultimately connect to the negative side
(0V DC).
3) Setup a safety relay on the user equipment, and when using to input the emergency stop button on the con -
troller, please only use a safety relay that functions when connecting the input to the one end of the 2 sys -
tems (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 exterior 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 20/19 terminal to 24V.
Fig.6-10 ： Example of safety measures (CR751 wiring example 5)
Controller
CNUSR1
1
No connection
26
External emergency stop switch 外部非常停止スイッチ
2
27
3
28
Emergency stop
非常停止出力
output
20
45
6
No connection
31
External emergency stop
外部非常停止スイッチ
7
32
8
33
Emergency stop
非常停止出力
output
19
44
24V DC
No connection
0V DC
24V DC
No connection
24V DC
switch
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
T11
安全入力1
Safety input 1
T12
T21
Safety input 2
安全入力2
T22
A1 A2
24V DC 0V DC
Customer Power Supply (DC 24V)
お客様電源（DC 24V）
Safety 6-152
6Safety