Справочник Пользователя для Mitsubishi Electronics CR751-D

6Safety

Safety

6-142

Fig.6-4 ： Example of safety measures （CR750 wiring example 4）

OP非常停止

ボタン

TB非常停止

ボタン

周辺装置

の非常停止
出力

周辺装置内部
非常停止回路

周辺装置

非常停止スイッチ

（4接点タイプ）

安全柵のドア

ドアスイッチ出力

監視

周辺装置
の非常停止

出力

周辺装置側

電源24V

CNUSR2

内部非常停止回路

未接続

非常停止出力

モード出力

}

ﾄﾞｱｽｲｯﾁ入力

16/17

41/42

エラー出力

}

監視

CNUSR2

内部非常停止回路

未接続

非常停止出力

モード出力

}

ﾄﾞｱｽｲｯﾁ入力

16/17

41/42

エラー出力

}

CNUSR11/CNUSR12

OP非常停止

ボタン

TB非常停止

ボタン

ｲﾈｰﾌﾞﾘﾝｸﾞ

ﾃﾞﾊﾞｲｽ

ｲﾈｰﾌﾞﾘﾝｸﾞ
ﾃﾞﾊﾞｲｽ

内部電源 24V

安全リレー

Controller #1

*5) Refer to the Standard specification manual or the Special specification manual for the enabling device.

*6) The emergency stop button of the robot controller. (Only specification with the operation panel.)

*7) 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.

Power supply in the robot

controller 24V

OP
Emer

gency stop
button

TB
Emer

gency stop
button

Not connected

Enabling

device

Mode output

Error output

Emergency stop output

Safety relay

Internal emergency
stop circuit

Emergency stop switch

(2- contact type)

Peripheral equipment

Safety fence

door

Power supply

24V

*1)

*2)

*3)

*6)

*4)

*5)

*7)

Monitor

Circuit

Door switch input

Not connected

<Wiring example 4>: Connect the emergency stop switch of peripheral equipment, and the door switch to two controllers, and it

interlocks. Connect the enabling device to the robot controller.The power supply for emergency stop input

uses the power supply of peripheral equipment. Monitor the emergency stop state by the peripheral

equipment side.

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.

Monitor

Door switch input

Enabling

device

Emergency stop output

Power supply in the robot

controller 24V

Safety relay

TB
Emer

gency stop
button

*3)

OP
Emer

gency stop

button

*6)

Controller #2

*1) Each of the connectors, CNUSR11 and CNUSR12, are assigned with

the same pin number, creating 2 systems in each terminal. It is

absolutely necessary to connect the 2 systems.

*2) You can see in the diagram that connector CNUSR2 has 2 terminals

and 2 systems (16/17 indicates 2 terminals at pin number 16 and
pin number 17). It is absolutely necessary to connect the 2

systems.

*3) The T/B emergency stop button connected with the controller.

*4) Emergency stop input relay.

Mode output

Error output

Internal emergency

stop circuit

*1)

*2)

*7)

*4)

*5)