Mitsubishi Electronics CR751-D ユーザーズマニュアル

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  Emergency stop input and output etc.   

3 Controller

3.6 Emergency stop input and output etc. 

Do wiring of the external emergency stop, the special stop input, the door switch, and the enabling device from 

the "special input/output" terminal connector.

Table 3-3 ： Special input/output terminal 

*At the time of the power supply OFF, the output point of contact is always open. 

[Note] The contact capacity of each input/output terminal is DC24V/10mA - 100mA. Don't connect the 

equipment except for this range. The use exceeding contact capacity causes failure.

In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect 
to the controller. (related with emergency stop and parallel input/output) If it connects with the controller 
under the condition that the + side is grounded, it will lead to failure of controller.

Pin number assignment of each terminal and the circuit diagram are shown in 

 (CR750) or 

 

(CR751).

3.6.1 Connection of the external emergency stop

The external emergency stop input and door switch input and enabling device input are opened at shipment as 
shown in 

 (CR750) or 

 (CR751).

Connect the external emergency stop switch and door switch with the following procedure.
And, the example of the connection and notes of the emergency stop are described in 

 Refer to it together

[Caution] The emergency stop circuit is duplicated inside the controller. The emergency stop switch uses a double

contact-type switch, so please be sure to fix both of the contacts to the connector pins as shown below
in order to ensure the wiring is duplicated. An error will continue to occur in the event that only one of
the pins is connected.

1) Please prepare the emergency stop switch, door switch and enabling device.

a) External emergency switch

・ CR750 controller...........CNUSR11 connector "between 3 and 4" and CNUSR12 Connector "between 3 and 4".
・ CR751 controller...........CNUSR1 connector "between 2 and 27" and "between 7 and 32".

b) Door switch

・ CR750 controller...........CNUSR11 connector "between 7 and 8" and CNUSR12 connector "between 7 and 8".
・ CR751 controller...........CNUSR1 connector "between 4 and 29" and "between 9 and 34".

c) Enabling device

・ CR750 controller...........CNUSR11 connector "between 9 and 10" and CNUSR12 connector "between 9 and 10".
・ CR751 controller...........CNUSR1 connector "between 5 and 30" and "between 10 and 35".

[Caution] Be sure to use a shield cable for the emergency stop wiring cable. And when operating in an environ

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ment  that  is  easily  affected  by  noise,  be  sure  to  fix  the  attached  ferrite  core  (model  number:
E04SR301334, manufacturer: Seiwa Electric Mfg. Co., Ltd.). Be sure to place the ferrite core more than
30 cm from the connecting terminal section.

Item

Name

Function

Input

Emergency stop

Applies the emergency stop. Dual emergency line 

Input

Special stop input

Applies the stop. （Refer to 

Input

Door switch

Servo-off. Dual line, normal close (

)

Input

Enabling device

Servo-off. Dual line, normal close (

)

Output

Robot error output

Contactor is opening during error occurrence.

Output

Emergency stop output

The point of contact opens under occurrence of emergency stop of external input signal, emergency 
stop of OP, emergency stop of T/B.

Output

Mode output

MANUAL mode: contactor is opening,  AUTOMATIC mode: contactor is closing.

Output

Magnet contactor control 
connector output for addi

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tion axes

When an additional axis is used, the servo ON/OFF status of the additional axis can be synchronized 
with the robot arm. (