Mitsubishi Electric CR750-D Instruction Manual page 61

<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.
<Operation of the emergency stop>
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.
Controller
コントローラ
TB Emergency
TB非常停止
stop button
ボタン
*2)
Input
入力
detection
検知
circuit
回路
Internal emergency stop
内部非常停止回路
circuit
*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) When using emergency stop button output function, please take note of the polarity and make sure that the
electrical current flows in the same direction as indicated by the dotted arrows in the two places in the diagram. If
the polarity of the circuit is wrong, the emergency stop button output may not work properly. Please connect the
24V power supply to 26/31 terminals.
Fig.2-33 ： Example of safety measures (Wiring example 3)
Power supply in the
robot controller 24V
内部電源 24V
*3)
10μF RA
RA
RA
*5)
Safety relay
安全リレー
*1)
CNUSR1
*6)
1/ 6
Not connected
未接続
26/31
2/ 7
27/32
3/ 8
28/33
4/ 9
Door switch input
ﾄﾞｱｽｲｯﾁ入力
29/34
5/10
30/35
Enabling
ｲﾈｰﾌﾞﾘﾝｸﾞ
device
ﾃﾞﾊﾞｲｽ
*4)
20/19
Emergency stop output
非常停止出力
45/44
18/17
}
Mode output モード出力
43/42
*1)
CNUSR2
16/17
}
Error output
エラー出力
41/42
2Unpacking to installation
Emergency stop switch
非常停止スイッチ
(2- contact type)
（2接点タイプ）
Safety
安全柵のドア
fence door
*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.
Peripheral
equipment 周辺装置
Power supply
周辺装置側
24V
電源24V
Circuit
周
辺
装
置
側
内
部
回
路
Monitor
監視
Monitor
監視
Installation 2-49