Справочник Пользователя для Mitsubishi Electronics CR751-D

6Safety

Safety

6-144

(2) CR751 controller

Fig.6-6 ： Example of safety measures (CR751 wiring example 1)

非常停止スイッチ

（2接点タイプ）

周辺装置

安全柵のドア

1/ 6

CNUSR1

CNUSR2

内部非常停止回路

コントローラ

非常停止出力

モード出力

TB非常停止
ボタン

}

ﾄﾞｱｽｲｯﾁ入力

ｲﾈｰﾌﾞﾘﾝｸﾞ

ﾃﾞﾊﾞｲｽ

26/31

2/ 7

27/32

3/ 8

28/33

4/ 9

29/34

5/10

30/35

20/19
45/44

18/17

43/42

16/17

41/42

エラー出力

}

短絡

}

安全リレー

内部電源 24V

<Wiring example 1>: Connect the emergency stop switch of peripheral equipment to the controller.

The power supply for emergency stop input uses the power supply in the controller.

If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency

stop state.

Controller

*1) Each of the connectors, CNUSR1 and CNUSR2, are assigned with the same pin number, creating 2

systems in each terminal. It is absolutely necessary to connect the 2 systems.

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

*3) Emergency stop input relay.
*4) Refer to the Standard specification manual or the Special 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.

Power supply in the

robot controller 24V

TB Emergency

stop button

Not connected

Door switch input

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

*1)

*4)

Short circuit

(Short-circuited)

*2)

*3)

*5)

*6)