Mitsubishi Electric CR750-D Instruction Manual page 66

2Unpacking to installation
<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>
Controller
コントローラ
OP Emergency
stop button
OP非常停止
*6)
ボタン
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
circuit
*4)Refer to the Standard specification manual or Special specification manualfor the enabling device.
*5)The emergency stop input detection relay is used 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.
The emergency stop button of the robot controller. (Only specification with the operation panel.)
*6)
*7)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 13/14 terminals.
Fig.2-38 ： Example of safety measures (Wiring example 3)
2-54 Installation
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.
Power supply in the
robot controller 24V
内部電源 24V
*3)
10μF
RA
*5)
Safety relay
安全リレー
内部非常停止回路
*1)
EMG1
1/ 2
未接続 Not connected
13/14
3/ 4
15/16
5/ 6
17/18
9/10
Door switch input ﾄﾞｱｽｲｯﾁ入力
21/22
RA
7/ 8
19/20
RA
Enabling
ｲﾈｰﾌﾞﾘﾝｸﾞ
device
ﾃﾞﾊﾞｲｽ
*4)
*1)
EMG2
5/ 6
Emergency stop output
非常停止出力
17/18
7/ 8
}
Mode output
モード出力
19/20
*1)
EMG2
11/12
}
エラー出力
Error output
23/24
Emergency stop switch
非常停止スイッチ
(2- contact type)
（2接点タイプ）
*7)
Safety
安全柵のドア fence door
*1)Each of the connectors, EMG1 and
EMG2, are assigned with the same
pin number, creating two systems for
each terminal. It is absolutely
necessary to connect the two
systems.
*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
周
Circuit
辺
装
置
側
内
部
回
路
Monitor
監視
Monitor
監視