Examples Of Safety Measures - Mitsubishi Electric RP-1ADH-S15 Series Standard Specifications Manual

6Safety

6.1.7 Examples of safety measures

Two emergency-stop input circuits are prepared on the user wiring terminal block of the controller. Create a cir -
cuit as shown below for safety measures. In addition, the figure shows the normal state which is not in the emer -
gency stop state.
[Caution] Since we have omitted the information in part because of explanation, there is the section different
from the product. Also refer to
explanation]"
[Note] In the emergency-stop related wiring by the customer, if the coil (is not the contact points) of the relay
prepared by the customer is connected to the controller, please be sure to implement the measure against
the noise by the customer in the coil section. And, please also take the lifetime of noise suppression parts
into consideration.
<Wiring example 1>: Connect the emergency stop switch of peripheral equipment to the robot controller.
The power supply for emergency stop input uses the power supply in the robot controller.
<Operation of the emergency stop>
Robot controller
ロボットコントローラ
*4)
OP非常停止
OP
Emer -
ボタン
gency
stop
button
*5)
TB非常停止
TB
Emer -
ボタン
gency
stop
button
Internal emergency stop
内部非常停止回路
circuit
[Caution] Since we have omitted the information in part because of explanation, there is the section different from the
product. Also refer to
Fig.6-1 ： Example of safety measures （Wiring example 1）
Safety
6-99
Page 104, "(1) External emergency stop connection [supplementary
and Page 44, "3.6.1 Connection of the external emergency
If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency
stop state.
Power supply in the ロボットコント
robot controller 24V
ローラ内電源 24V
*6)
RA
RA
RA
Page 46, "Fig.3-9 ： External emergency stop
*1)
EMGIN1/2
1A/1B
Short circuit
短絡(出荷時短絡済)
2A/2B
(short-circuited)
3A/3B
4A/4B
5A/5B
Short circuit
短絡(出荷時短絡済)
6A/6B
(short-circuited)
7A/7B
Door switch input
ﾄﾞｱｽｲｯﾁ入力
8A/8B
9A/9B
10A/10B
11A/11B
ｲﾈｰﾌﾞﾘﾝｸﾞ
Enabling
device
ﾃﾞﾊﾞｲｽ
EMGOUT1/2
1A/1B
}
Error output エラー出力
2A/2B
3A/3B
}
Mode output モード出力
4A/4B
5A/5B
Contactor control
}
付加軸用コンタクタ
6A/6B
output for addi -
コントロール出力
tional axes
connection".
stop".
Emergency stop switch 非常停止スイッチ
(2- contact type)
（2接点タイプ）
*2)
*3)
Safety
安全柵のドア
fence door
*1)EMGIN1/2, and EMGOUT1/2 have
the two terminals separately, and
show that they are the two lines.
Always connect the two lines.
*2) 1A/1B, and 2A/2B terminal of
EMGIN is short-circuited at
factory shipments.
*3)5A/5B, and 6A/6B terminal of
EMGIN is short-circuited at
factory shipments.
Notes) If "*2" and "*3" are removed,
it will be in the emergency stop
state.
*4) The emergency stop button of the
robot controller operation panel.
*5) The emergency stop button of T/
B connected to the robot
controller.
*6) Emergency stop input relay.
Peripheral
equipment
周辺装置