Mitsubishi Electric RP-1ADH-S15 Series Standard Specifications Manual page 8

3.6 Emergency stop input and output etc. ......................................................................................................................... 3-44
3.6.1 Connection of the external emergency stop ...................................................................................................... 3-44
3.6.2 Special stop input(SKIP) ............................................................................................................................................. 3-47
3.6.3 Door switch function .................................................................................................................................................... 3-49
3.6.4 Enabling device function ............................................................................................................................................. 3-49
(1) When door is opening ............................................................................................................................................... 3-49
(2) When door is closing ................................................................................................................................................ 3-49
(3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings .............. 3-50
3.7 Additional Axis Function ..................................................................................................................................................... 3-51
3.7.1 Wiring of the Additional Axis Interface ................................................................................................................. 3-51
3.8 Magnet contactor control connector output (AXMC) for addition axes ........................................................ 3-55
3.9 Options ....................................................................................................................................................................................... 3-57
(1) Teaching pendant (T/B) ......................................................................................................................................... 3-58
(2) Pneumatic hand interface ...................................................................................................................................... 3-61
(3) Parallel I/O interface ............................................................................................................................................... 3-63
(4) External I/O cable ..................................................................................................................................................... 3-68
(5) Parallel I/O unit ......................................................................................................................................................... 3-70
(6) External I/O cable ..................................................................................................................................................... 3-79
(7) Personal computer cable ....................................................................................................................................... 3-81
(8) CC-Link interface ..................................................................................................................................................... 3-82
(9) Extension memory cassette ................................................................................................................................. 3-85
(10) RT ToolBox2/RT ToolBox2 mini ...................................................................................................................... 3-86
(11) Instruction Manual(bound edition) ................................................................................................................... 3-88
3.10 Maintenance parts .............................................................................................................................................................. 3-89
4 Software ............................................................................................................................................................................................ 4-90
4.1 List of commands .................................................................................................................................................................. 4-90
4.2 List of parameters ................................................................................................................................................................. 4-93
5 Instruction Manual ........................................................................................................................................................................ 5-95
5.1 The details of each instruction manuals ...................................................................................................................... 5-95
6 Safety ................................................................................................................................................................................................. 6-96
6.1 Safety ......................................................................................................................................................................................... 6-96
6.1.1 Self-diagnosis stop functions ................................................................................................................................... 6-96
6.1.2 External input/output signals that can be used for safety protection measures .............................. 6-97
6.1.3 Precautions for using robot ....................................................................................................................................... 6-97
6.1.4 Safety measures for automatic operation ........................................................................................................... 6-98
6.1.5 Safety measures for teaching .................................................................................................................................. 6-98
6.1.6 Safety measures for maintenance and inspections, etc. .............................................................................. 6-98
6.1.7 Examples of safety measures ................................................................................................................................... 6-99
(1) External emergency stop connection [supplementary explanation] ................................................. 6-104
6.2 Working environment ......................................................................................................................................................... 6-106
6.3 Precautions for handling .................................................................................................................................................. 6-106
7Appendix ........................................................................................................................................................................... Appendix-108
Appendix 1 ： Specifications discussion material ........................................................................................ Appendix-108
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