2-14
2Unpacking to installation
2.2.5 Connecting the external emergency stop
The following shows how to connect the external emergency stop. The example is shown in "2.2.6Examples of
safety measures".
For external emergency stop, connect to the connector at the front of the controller (reference Fig. 2-8). When
shipped from the factory, external emergency stop input, door switch input, and the enabling device terminal, are
opened (contacts not shorted) as shown on Page 16 "Fig. 2-9: External emergency stop connection (CR750
controller)" and on Page 19 "Fig. 2-12: External emergency stop connection (CR751 controller)". Customers
should be sure to prepare the external emergency stop, door switch and enabling device, etc. and use the robot
while these are connected. Connection procedures are shown below.
[Caution] The emergency stop circuit is duplicated inside the controller. For the emergency stop switch, use a
double contact-type switch, and be sure to connect both of the contacts to the connector pins as
shown below in order to ensure the wiring is duplicated. An error cannot be reset if only one of the pins
is connected.
1) Please prepare the emergency stop switch, door switch and enabling device.
2) Connect the contacts of each switch to the contacts as shown below:
a) External emergency switch
・ CR750 controller.............. CNUSR11 connector "between 3 and 4" and CNUSR12 connector "between 3 and 4"
・ CR751 controller.............. CNUSR1 connector "between 2 and 27" and "between 7 and 32"
b) Door switch
・ CR750 controller.............. CNUSR11 connector "between 7 and 8" and CNUSR12 connector "between 7 and 8"
・ CR751 controller.............. CNUSR1 connector "between 4 and 29" and "between 9 and 34"
c) Enabling device
・ CR750 controller.............. CNUSR11 connector "between 9 and 10" and CNUSR12 connector "between 9 and 12"
・ CR751 controller.............. CNUSR1 connector "between 5 and 30" and "between 10 and 35"
[Caution] Be sure to use a shield cable for the emergency stop wiring cable. And when operating in an
environment that is easily affected by noise, be sure to install the included ferrite core (model number:
E04SR301334, manufacturer: Seiwa Electric Mfg. Co., Ltd.). Be sure to place the ferrite core in 30cm or
less from the connecting terminal section.
Make sure there are no mistakes in the wiring. Connecting differently to the way
specified in the manual can result in failures, such as the emergency stop not being
released. In order to prevent from occurring, please be sure to check that all functions
(such as the teaching box emergency stop, customer emergency stop, and door switch)
are working properly after the wiring setup is completed.
When using several emergency stop switches, perform wiring carefully to make sure
that each emergency stop switch functions independently. Check and make sure that
the emergency stop does not function under an AND condition (when multiple
emergency stop switches are ON at the same time).
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