Mitsubishi Electric CR750-D Instruction Manual page 49

(3) CR760 controller
An example of external emergency stop connection is shown below. Details of arrangement of connectors for
exclusive input/output signals and the pin assignments are shown in the following pages.
(Customer)
（お客様配線側）
EMG2
7
19
5
17
EMG2
8
20
6
18
EMG2
11
23
12
Please do not carry out an insulation pressure test.
CAUTION
警告
絶縁耐圧試験は行なわないでください。 Moreover, it becomes the cause of failure if it
また誤って接続した場合は故障の原因となります。 connects incorrectly.
*1) This terminal is opened at factory shipping (unconnected). If power supply inside the controller is used, short-circuit the terminal.
*2) This terminal can be used only for the external emergency stop input to the controller. The terminal cannot be used for the output
signal of OP emergency stop or TB emergency stop because the controller's internal circuit contains the input detection circuit
and a capacitor.
(Do not use the terminal for other purposes such as monitoring the test pulse outputs, or a false detection may occur.)
[Note] In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the con -
troller. (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.
Wiring method
Fig. 2-22 ： External emergency stop connection (CR760)
Internal circuit structure
内部回路構成
(Controller side)
（コントローラ側）
OP emer -
OP
gency stop 非常停止
Mode output
モード出力
Emergency
非常停止出力
stop output
Input
入力
detection
検知
circuit
回路
Mode output
モード出力
Emergency
非常停止出力
stop output
Robot error
ロボットエラー出力
output
Input
入力
Robot error
detection
ロボットエラー出力
検知
output
circuit
回路
Peel the sheath of the cable and insert it to the connector directly.
13
1
Core wires of the cable should be kinked before the cable is used.
While pushing the hook inside the tool insertion opening of the
connector using a small screwdriver, insert the cable to the back of
the cable insertion opening of the connector.
24 12
TB emer - TB
非常停止 gency stop
+24V
Relay
10μF
RA
24G
+24V
24G
Relay
RA
+24V
24G
Relay
RA
+24V
24G
Relay
10μF RA
24G
24G +24V
Relay
RA
+24V
24G
Relay
RA
24G
Please refer to the example of safety measures
of "Standard Specifications Manual".
Cable size: AWG#28 ～ AWG#16(0.08mm
［Note］ The contact capacity of each input/output terminal is
shown below.
DC24V: input 10mA/output 100mA
2Unpacking to installation
(Customer)
（お客様配線側）
EMG1
※1)
1
Short
短絡
13
External emergency
3
外部非常停止入力
stop input
※2)
15
※1)
5
Short
短絡
17
9
Door switch input
ドアスイッチ入力
21
7 Enabling device
イネーブリング
input
デバイス入力
19
EMG1
※1)
2
Short
短絡
14
External emergency
4
外部非常停止入力
stop input
※2)
16
※1)
6
Short
短絡
18
10
Door switch input
ドアスイッチ入力
22
8
Enabling device
イネーブリング
input
デバイス入力
20
2 2
～ 1.5mm )
Installation 2-37