6Safety
Safety 6-117
(2) CR751 controller
Fig.6-6 ： Example of safety measures (CR751 wiring example 1)
非常停止スイッチ
（2接点タイプ）
周辺装置
安全柵のドア
1/ 6
CNUSR1
CNUSR2
内部非常停止回路
コントローラ
非常停止出力
モード出力
TB非常停止
ボタン
RA
RA
RA
}
ﾄﾞｱｽｲｯﾁ入力
ｲﾈｰﾌﾞﾘﾝｸﾞ
ﾃﾞﾊﾞｲｽ
26/31
2/ 7
27/32
3/ 8
28/33
4/ 9
29/34
5/10
30/35
20/19
45/44
18/17
43/42
16/17
41/42
エラー出力
}
短絡
短絡
}
安全リレー
内部電源 24V
<Wiring example 1>: Connect the emergency stop switch of peripheral equipment to the controller.
The power supply for emergency stop input uses the power supply in the controller.
<Operation of the emergency stop>
If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency
stop state.
Controller
*1) Each of the connectors, CNUSR1 and CNUSR2, are assigned with the same pin number, creating 2
systems in each terminal. It is absolutely necessary to connect the 2 systems.
*2) The T/B emergency stop button connected with the controller.
*3) Emergency stop input relay.
*4)
Refer to Standard specification manual for the enabling device.
*5) The emergency stop input detection 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.
Power supply in the
robot controller 24V
TB Emergency
stop button
Not connected
Door switch input
Enabling
device
Mode output
Error output
Emergency stop output
Safety relay
Internal emergency stop
circuit
Emergency stop switch
(2- contact type)
Peripheral
equipment
Safety
fence door
*1)
*1)
*4)
Short circuit
(Short-circuited)
*2)
*3)
*5)
*6)
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