External Emergency Stop Connection [Supplementary Explanation] - Mitsubishi Electric RP-1ADH-S15 Series Standard Specifications Manual

(1) External emergency stop connection [supplementary explanation]

(1) Use a 2-contact type switch for all switches.
(2) Install a limit switch on the safety fence's door. With a constantly open contact (a contact), wire to the door
switch input terminal so that the switch turns ON (is conducted) when the door is closed, and turns OFF (is
opened) when the door is open.
(3) Use a manual-return type 2b-contact for the emergency stop button.
(4) Classify the faults into minor faults (faults that are easily restored and that do not have a great effect) and
major faults (faults that cause the entire system to stop immediately, and that require care in restoration),
and wire accordingly.
[Caution] The emergency stop input (terminal block) on the user wiring in the controller can be used for safety
measures as shown in
capacity and cable length, so refer to the following and install.
・ Switch contact .......................................... Prepare a 2-contact type.
・ Switch contact capacity........................ Use a contact that operates with a switch contact capacity of
・ Cable length................................................ The length of the wire between the switch and terminal block
OP Emergency
stop button
TB Emergency
stop button
Fig.6-6 ： Limitations when connecting the relay etc.
*1) The minimum load electric current of the switch is more than 5mA/24V.
Fig. 6-1 to Fig.
Robot controller
Power supply in the
robot controller
24V
RA
RA
RA
Internal emergency
stop circuit
6-4. Note that there are limits to the No. of switch contacts,
approx. 1mA to 100mA/24V.
If you connect the relay etc., rated current of the coil should
use the relay which is 100mA/24V or less. (Refer to
must be max. 15m or less. Please use the shield line, in case
of the cable may receive the noise etc. by other equipment,
such as servo amplifier. And, since the ferrite core is
attached as noise measures parts, please utilize.
EMGIN1/2
1A/1B
Not connected
2A/2B
3A/3B
4A/4B
5A/5B
6A/6B
7A/7B
Door switch input
8A/8B
9A/9B
10A/10B
11A/11B
Enabling
device
EMGOUT1/2
1A/1B
}
Error output
2A/2B
3A/3B
}
Mode output
4A/4B
5A/5B
Contactor control
}
6A/6B output for additional
axes
*1)
*1)
Emergency stop switch
(2-contact type)
Peripheral
equipment
Power
supply 24V
RA
Monitor
Safety
fence door
Circuit
Monitor
6Safety
Fig. 6-6)
Safety 6-104