Справочник Пользователя для Mitsubishi Electronics CR751-D

6Safety

Safety

6-146

Fig.6-8 ： Example of safety measures (CR751 wiring example 3)

非常停止スイッチ
（2接点タイプ）

周辺装置

安全柵のドア

周辺装置側

電源24V

監視

周
辺
装
置
側
内
部
回
路

1/ 6

CNUSR1

CNUSR2

内部非常停止回路

コントローラ

未接続

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

16/17

41/42

エラー出力

}

20/19
45/44

18/17

43/42

監視

安全リレー

内部電源 24V

Controller

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)

Safety

fence door

Power supply

24V

*1)

*3)

*4)

*5)

Peripheral

equipment

*1) Each terminal assigned with the respectively same pin number as connector: CNUSR1 and CNUSR2 and

each is dual line. Always connect the two lines.

*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.

*6) Connect the 24V power supply to 26/31 terminals.

*2)

*6)

<Wiring example 3>: Connect the emergency stop switch, door switch, and enabling device of peripheral equipment to the con

troller. 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

Circuit