Mitsubishi Electric RP-1ADH-S15 Series Standard Specifications Manual page 112

6Safety
<Wiring example 5>: Connect the safety relay to the robot controller.
Use the emergency stop button of the robot controller as an input of the safety relay.
Robot Controller
OP TB
E-stop E-stop
[Notes]
1) Because this product is the performance of the category 3, all of the robot system cannot be made into the category 4.
2) There exists polarity in the internal circuit of the controller. When the customer's system uses especially the output of
the emergency stop button, please keep the polarity shown in the wiring example. Connect the "+" side (24VDC) of the
customer system to 2A/2B pin, connect the emergency stop button (or contact) of the customer system etc. to 3A / 3B
pin, and connect with "-" side (0V) finally.
3) When installing the safety relay in the customer's system, and using the emergency stop button to input to the robot
controller please use the safety relay which can use only one circuit line of two circuit lines. (example: G9S series by
OMRON CO. LTD)
4) The emergency-stop input detection relay (internal relay) is used for control of the safety relay in the robot controller. If
the emergency-stop input detection relay turn off, robot controller detect the emergency stop and the safety relay turns
off.
5) If the emergency-stop-button output power connected to the external safety relay, be careful for the current to flow as
the arrow shown in the figure to the polarity. If the polarity is mistaken, this function will not operate correctly. Connects
24V to the 2A / 2B terminal.
Fig.6-5 ： Example of safety measures （Wiring example 5）
Safety
6-103
EMGIN1/2
1A
No connection
2A
3A
Internal Relay
4A
Safety Output 1
5A
6A
Safety Relay
1B
No connection
2B
3B
Internal Relay
4B
Safety Output 2
5B
6B
No connection
0V DC
No connection
0V DC
Customer Equipment
Safety Relay
ex.)
G9SX-AD series *OMRON
T11
Safety Input 1
T12
T21
Safety Input 2
T22
A1 A2
24V DC 0V DC
Customer Power Supply（DC 24V）