Mitsubishi Electric A173UHCPU User Manual page 63

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS
CPU module
(2) Selection of teaching unit and connection with CPU module
(a) Selection of teaching unit
There are the A30TU-E and A31TU-E teaching units. Refer to the following
table for selection.
Comparison
*1
Dead-man switch
Emergency stop
Connection with CPU
(b) Connection of A31TU-E unit (teaching unit with deadman switch) and CPU
module
To connect the A31TU-E teaching unit with deadman switch and the CPU
module, use the A31TUCBL03M for connection within the panel and plug its
A31TU-E side connector into the operator panel surface for A31TU-E
connection. When using the A31TU-E unit, use it by plugging it into the
connector on the operator panel surface. When not using the A31TU-E, fit the
A31SHORTCON into the connector on the operator panel surface.
The A31TUCBL03M's signal wires connected to the external circuit, e.g. EMG
and EMGL, are used for external safety circuit connection for the emergency
stop switch and deadman switch of the A31TU-E. Refer to Section 2.3(2) for
details of the external circuit.
A31TUCBL03M
External circuit
*2: The CPU module does not operate if the A31TU-E and CPU module are connected directly.
POINT
When using the A31TU-E, be sure to use the A31TUCBL03M.
When the A31TU-E is not connected, be sure to connect the
A31SHORTCON. Failing to do this could result in the system entering an
emergency stop state.
An external circuit is essential to form a safety circuit. (For details of external
circuit configuration, refer to the section 2.3.)
Selection of Teaching Unit
A30TU-E
Without
With (signal on semiconductor
level)
Directly connectable
*1: Releasing the deadman switch turns off servo power.
Control panel
A31TUCBL03M connector
1 − 51
A31TU-E
With
With (signal on relay level)
Directly unconnectable
Via A31TUCBL03M
External circuit required
(In direct connection, CPU
module does not operate.)
A31SHORTCON
(Fitted when A31TU-E is not used)
A31TU-E
*2