Emergency Stop Input And Output Etc; Connection Of The External Emergency Stop And Mode Selector Switch - Mitsubishi Electric MELFA CR800 Series Special Specifications Manual

3.6 Emergency stop input and output etc.

Do wiring of the external emergency stop, the special stop input, the door switch, and the mode selector switch
from the "special input/output" terminal connector.
Table 3-5 ： Special input/output terminal
Item Name
Input Emergency stop
Input Special stop input
Input Door switch
Input Mode selector switch
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] Wire for each input terminal as shown in
The contact capacity of each input/output terminal is DC24V/100mA. Do not 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.
[Note] If a stop signal or servo OFF signal is input simultaneously with a door switch open/emergency stop input,
the error, H056n "Servo sys. error (A/D)" may occur.
When a door switch open/emergency stop is input, the robot turns off the servo after it stops. It is
unnecessary to input a stop signal or servo OFF signal. To input a stop signal or servo OFF signal with a
door switch open/emergency stop input, wait for 100ms or more after a door switch open/emergency stop
input.
Pin number assignment of each terminal and the circuit diagram are shown in

3.6.1 Connection of the external emergency stop and mode selector switch

The input terminals for the external emergency stop, door switch, and mode selector switch are arranged as
shown in Fig. 3-9. Customers should be sure to prepare the external emergency stop, door switch, and mode
selector switch, etc. and use the robot while these are connected. Connection procedures are shown below.
In addition, refer to Page 131, "6.1.7 Examples of safety measures"
connection and cautions.
[Caution] The emergency stop circuit is duplicated inside the controller. The emergency stop switch uses a double
contact-type switch, so please be sure to fix both of the contacts to the connector pins as shown below
in order to ensure the wiring is duplicated. An error will continue to occur in the event that only one of
the pins is connected.
1) Please prepare the emergency stop switch, door switch, and mode selector switch.
2) Connect the contacts of each switch to the contacts as shown below:
a) External emergency switch
CNUSR11 connector "between 7 and 23" and "between 14 and 30".
b) Door switch
CNUSR11 connector "between 6 and 22" and "between 13 and 29".
c) Mode selector switch
CNUSR11 connector "between 5 and 21" and "between 12 and 28".
[Caution] Be sure to use a shield cable for the emergency stop wiring cable and dedicated stop input wiring
And when operating in an environment that is easily affected by noise, be sure to install the ferrite core
(recommended model name: E04SR301334, manufacturer: Seiwa Electric Mfg. Co., Ltd.). Be sure to
place the ferrite core in 300mm or less from the connecting terminal section.
Applies the emergency stop. Dual line, normal close
Applies the stop. (Refer to Page 80, "3.6.2 Special stop input
Servo-off. Dual line, normal close
Changes the mode (MANUAL/AUTOMATIC) of the controller. Dual line
selector switch function")
Contactor is opening during error occurrence.
The point of contact opens under occurrence of emergency stop of external input signal, 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. (Page 87, "3.8 Magnet contactor control connector output (AXMC) for addition
axes")
Fig. 3-9.
Function
(SKIP)"）
(Page 81, "3.6.3 Door switch function")
Fig.
for the information on the emergency stop
Emergency stop input and output etc. 3-76
3 Controller
(Page 81, "3.6.4 Mode
3-9.
cable.