Emergency Stop Input And Output Etc; Connecting The External Emergency Stop; Cr750 Controller - Mitsubishi Electric CR750-D Instruction Manual

2.2.6 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.
Connection of the external emergency stop is explained in
about wiring of the others, refer to separate "Standard Specifications Manual".
Table 2-2 ： Special input/output terminal
Item Name
Input Emergency stop
Input Special stop input
Input Door switch
Input Enabling device
Output Robot error output
Output Emergency stop output
Output Mode output
Output Magnet contactor control
connector output for addi -
tion axes
*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.

2.2.7 Connecting the external emergency stop

The following shows how to connect the external emergency stop. The example is shown in
safety measures".
For external emergency stop, connect to the connector at the front of the controller (reference
shipped from the factory, external emergency stop input, door switch input, and the enabling device terminal, are
opened (contacts not shorted) as shown on
22 (CR760 controller). Customers should be sure to prepare the external emergency stop, door switch and
enabling device, etc. and use the robot while these are connected. Connection procedures are shown below.
[Caution] The emergency stop circuit is duplicated inside the controller. For the emergency stop switch, use a
double contact-type switch, and be sure to connect both of the contacts to the connector pins as
shown below in order to ensure the wiring is duplicated. An error cannot be reset if only one of the pins
is connected.
1) Please prepare the emergency stop switch, door switch and enabling device.
2) Connect the contacts of each switch to the contacts as shown below:
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"
・ CR760 controller ..............EMG1 connector "between 3 and 15" and "between 4 and 16"
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"
・ CR760 controller ..............EMG1 connector "between 9 and 21" and "between 10 and 22"
c) Enabling device
・ CR750 controller ..............CNUSR11 connector "between 9 and 10" and CNUSR12 connector "between 9 and 12"
・ CR751 controller ..............CNUSR1 connector "between 5 and 30" and "between 10 and 35"
・ CR760 controller ..............EMG1 connector "between 7 and 19" and "between 8 and 20"
Applies the emergency stop. Dual emergency line.
Applies the stop.
(Refer to "Special stop input (SKIP)" in separate "Standard Specifications Manual".)
Servo-off. Dual line, normal close.
(Refer to "Door switch function" in separate "Standard Specifications Manual".)
Servo-off. Dual line, normal close.
(Refer to "Enabling device function" in separate "Standard Specifications Manual".)
Contactor is opening during error occurrence.
The point of contact opens under occurrence of emergency stop of external input signal, emergency
stop of OP, emergency stop of T/B.
MANUAL mode: contactor is opening, AUTOMATIC mode: contactor is closing.
When an additional axis is used, the servo ON/OFF status of the additional axis can be synchronized
with the robot arm.
(Refer to Page 61, "2.2.10 Magnet contactor control connector output (AXMC) for addition
Fig. 2-15

(CR750 controller),

"2.2.7Connecting the external emergency
Function
Fig. 2-19 (CR751 controller), and
2Unpacking to installation
stop". And
axes".)
"2.2.9Examples of
Fig. 2-14). When
Fig. 2-
Installation 2-23