Mitsubishi Electric CR750-D Instruction Manual page 68

2Unpacking to installation
<Wiring example 5>: Connect the controller to the safety relay
Use the controller's emergency stop button command as an input to the safety relay.
OP
E-stop
10μF
Input
入力
detection
検知
circuit
回路
10μF
Input
入力
detection
検知
circuit
回路
[Caution]
1)This product has category 3 functionality and therefore the robot's whole unit cannot be set to category 4.
2)The controller's internal circuit has polarity. Please adhere to the polarity as detailed in the wiring examples, particularly
for emergency stop button output when using user equipment. Connect the positive side of the user equipment (24V DC)
to the two terminals 13/14 of EMG1, then connect the emergency stop button (or contact points) in the user equipment
to the 3-15 and 4-16 terminals of EMG1, and ultimately connect the negative side (24G).
3)When installing a safety relay to use it as an input point of the controller's emergency stop button command, use a safety
relay that is activated by an input from one of the two systems (i.e. QS90SR2SP (Manufacture: Mitsubishi Electric
Corporation)).
4)The emergency stop input detection relay (internal relay) uses 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.
5)When connecting emergency stop button output to an external safety relay, 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 is setup incorrectly, this function will not operate correctly. Please connect the two terminals 5/6
of EMG2 to 24V.
Fig.2-40 ： Example of safety measures (Wiring example 5)
2-56 Installation
Controller
EMG1
TB
E-stop
Internal relay
内部リレー
Safety relay
安全リレー
EMG2
Emergency stop
非常停止出力
output
EMG1
Internal relay
内部リレー
EMG2
Emergency stop
非常停止出力
output
1
No connection
24V DC
13
External emergency stop switch 外部非常停止スイッチ
3
15
5
17
24G
5
24V DC
17
2
No connection
24V DC
14
External emergency stop
外部非常停止スイッチ
switch
4
16
6
18
24G
6
24V DC
18
Customer equipment
お客様装置
Safety relay
安全リレー
ex) QS90SR2SP (Mitsubi -
例）QS90SR2SP
( 三菱電機株式会社) shi Electric Corporation)
No connection
COM0
Safety
安全入力1
input 1
X0
COM1
No connection
Safety
安全入力2
input 2
X1
+24V
24V DC
Customer Power Supply (DC 24V)
お客様電源（DC 24V）
24G
24G