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Emergency stop input and output etc.
3 Controller
3.6.2 Special stop input (SKIP)
The skip is the input signal to stop the robot. The pin 9, 34 of the CNUSR2 connector shown in Fig. 3-16
(CR750) or Fig. 3-17 (CR751).
Table 3-4 ： Special stop input electric specification
(1) CR750 controller
Fig.3-16 ： Connection of the special-stop-input (CR750)
Item Specifications Internal circuit
Type DC input
No. of input point 1
Insulation method Photo-coupler insulation
Rated input voltage DC24V
Rated input current Approx. 11mA
Working voltage range DC 21.6 ～ 26.4V
（Ripple rate within 5%）
ON voltage/ON current DC 8V or more / 2mA or more
OFF voltage/OFF current DC 4V or less / 1mA or less
Input resistance Approx. 2.2ｋ Ω
Response
time
OFF → ON 1ms or less
ON → OFF 1ms or less
Common method 1 point per common
External wire connection method Connector
330
2.2k
入力
＋２４V(COM)
1A
1B
Input
9
34
CNUSR2
フェライトコア
2回通し
30cm以内
* Connects with CNUSR2 connector
with soldering.
Refer to Page 83 "Fig. 3-12: Method
of wiring for external emergency stop
connection (CR750 (CNUSR2))".
Within 30cm
CNUSR2 connector
Ferrite core
Pass twice
Note) In the customer's system, do not ground the + side of 24V power supply prepared by customer for con
-
nect to the controller. (related with emergency stop and parallel input/output) If it connects with the con-
troller under the condition that the + side is grounded, it will lead to failure of controller.