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6Safety
Safety
6-146
Fig.6-8 ： Example of safety measures (CR751 wiring example 3)
非常停止スイッチ
（2接点タイプ）
周辺装置
安全柵のドア
周辺装置側
電源24V
監視
周
辺
装
置
側
内
部
回
路
1/ 6
CNUSR1
CNUSR2
内部非常停止回路
コントローラ
未接続
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
16/17
41/42
エラー出力
}
20/19
45/44
18/17
43/42
監視
安全リレー
内部電源 24V
Controller
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)
Safety
fence door
Power supply
24V
*1)
*1)
*3)
*4)
*5)
Peripheral
equipment
*1) Each terminal assigned with the respectively same pin number as connector: CNUSR1 and CNUSR2 and
each is dual line. Always connect the two lines.
*2) The T/B emergency stop button connected with the controller.
*3) Emergency stop input relay.
*4) Refer to the Standard specification manual or the Special 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.
*6) Connect the 24V power supply to 26/31 terminals.
*2)
*6)
<Wiring example 3>: Connect the emergency stop switch, door switch, and enabling device of peripheral equipment to the con-
troller. The power supply for emergency stop input uses the power supply of peripheral equipment. Monitor
the emergency stop state by the peripheral equipment side.
<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. And, if the emergency stop switch of OP or T/B is pushed in the state of the power of con
-
troller OFF, peripheral equipment state can be the emergency stop also.
Monitor
Monitor
Circuit