Emergency Stop Input And Output Etc - Mitsubishi Electric CR800 Series Instruction Manual

2Unpacking to installation

2.3.5 Emergency stop input and output etc.

Do wiring of the external emergency stop, the special stop input, the door switch, and the mode selector switch
from the "special input/output" terminal connector.
Connection of the external emergency stop is explained in
mode selector switch". And about wiring of the others, refer to separate "Standard Specifications Manual".
Table 2-4 ： Special input/output terminal
Item
Input Emergency stop
Input Special stop input
Input Door switch
Input Mode selector switch
Output Robot error output
Output Emergency stop output
Output Mode output
Additional axis synchroniza -
Output
tion output
*At the time of the power supply OFF, the output point of contact is always open.
[Note] The contact capacity of each input/output terminal is DC24V/100mA. Don't connect the equipment
except for this range. Noise or other effects that overload contact capacities will lead to failure. An
example of noise prevention is shown in
In the customer's system, do not ground the + side of 24V power supply prepared by customer for
connect to the controller. (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.
An example of connecting devices such as PLCs
Robot controller
Contact
Use noise prevention methods that are specific to the devices
being used and the environment they are being used in.
An example of connecting devices such as relays
Robot controller
Contact
Use noise prevention methods
that are specific to the devices
being used and the environment
they are being used in.
*1) The actual internal robot controller circuit differs from the internal robot controller circuit in the figure.
Recommended varistor
ERZV10D390
72210S0250K101
Fig.2-7 ： Protection circuit example
2-24 Installation and connectionInstallation
Name
Applies the emergency stop. Dual emergency line.
Applies the stop.
(Refer to "Special stop input (SKIP)" in separate "Standard Specifications Manual".)
Servo-off. Dual line, normal close.
(Refer to "Door switch function" in separate "Standard Specifications Manual".)
Changes the mode (MANUAL/AUTOMATIC) of the controller. Dual line.
(Refer to "Enabling device function" in separate "Standard Specifications Manual".)
Contactor is opening during error occurrence.
The point of contact opens under occurrence of emergency stop of external input signal, emergency
stop of OP, emergency stop of T/B.
MANUAL mode: contactor is opening, AUTOMATIC mode: contactor is closing.
When an additional axis is used, the servo ON/OFF status of the additional axis can be synchronized
with the robot arm. (Refer to
100mA
*1)
Contact capacity:
24 V DC
100mA
*1)
Contact capacity:
24 V DC
Model Manufacturer
Panasonic
TDK
"2.3.6 Connecting the external emergency stop and
Function
Page 36, "2.3.8 Additional axis synchronization
Fig. 2-7.
Supplied by customer
Customer device
Varistor
Varistor
Diode
Varistor voltage
39V
39V
output".)
Supplied by customer
Customer device
Max. permissible circuit voltage
31V
31V