Mitsubishi Electronics CR751-D ユーザーズマニュアル
3-79
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.
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.
(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
shown in
(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
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.
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".
・ 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".
・ 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".
・ 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
-
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.
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
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.
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
connector output for addi
-
tion axes
When an additional axis is used, the servo ON/OFF status of the additional axis can be synchronized
with the robot arm. (
with the robot arm. (