Mitsubishi Electric MELFA User manual

MELFA
Industrial Robot
Hardware Manual
CR1 Controller
133799
BFP-A8054-D
MITSUBISHI ELECTRIC
Art.No.:
2001 05 22
MITSUBISHI ELECTRIC
INDUSTRIAL AUTOMATION

All teaching work must be carried out by an operator who has received special training.
(This also applies to maintenance work with the power source turned ON.)
→Enforcement of safety training
For teaching work, prepare a work plan related to the methods and procedures of oper-
ating the robot, and to the measures to be taken when an error occurs or when restart-
ing. Carry out work following this plan. (This also applies to maintenance work with the
power source turned ON.)
→Preparation of work plan
Prepare a device that allows operation to be stopped immediately during teaching work.
(This also applies to maintenance work with the power source turned ON.)
→Setting of emergency stop switch
During teaching work, place a sign indicating that teaching work is in progress on the
start switch, etc. (This also applies to maintenance work with the power source turned
ON.)
→Indication of teaching work in progress
Provide a fence or enclosure during operation to prevent contact of the operator and
robot.
→Installation of safety fence
Establish a set signaling method to the related operators for starting work, and follow
this method.
→Signaling of operation start
As a principle turn the power OFF during maintenance work. Place a sign indicating that
maintenance work is in progress on the start switch, etc.
→Indication of maintenance work in progress
Before starting work, inspect the robot, emergency stop switch and other related
devices, etc., and confirm that there are no errors.
→Inspection before starting work
CAUTION
CAUTION
WARNING
CAUTION
WARNING
CAUTION
CAUTION
CAUTION
Always read the following precautions and the separate "Safety
Manual" before starting use of the robot to learn the required
measures to be taken.
Safety Precautions

The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.
Use the robot within the environment given in the specifications. Failure to do so could
lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise environ-
ment, etc.)
Transport the robot with the designated transportation posture. Transporting the robot
in a non-designated posture could lead to personal injuries or faults from dropping.
Always use the robot installed on a secure table. Use in an instable posture could lead
to positional deviation and vibration.
Wire the cable as far away from noise sources as possible. If placed near a noise source,
positional deviation or malfunction could occur.
Do not apply excessive force on the connector or excessively bend the cable. Failure to
observe this could lead to contact defects or wire breakage.
Make sure that the workpiece weight, including the hand, does not exceed the rated load
or tolerable torque. Exceeding these values could lead to alarms or faults.
Securely install the hand and tool, and securely grasp the workpiece. Failure to observe
this could lead to personal injuries or damage if the object comes off or flies off during
operation.
Securely ground the robot and controller. Failure to observe this could lead to malfunc-
tioning by noise or to electric shock accidents.
Indicate the operation state during robot operation. Failure to indicate the state could
lead to operators approaching the robot or to incorrect operation.
When carrying out teaching work in the robot's movement range, always secure the pri-
ority right for the robot control. Failure to observe this could lead to personal injuries or
damage if the robot is started with external commands.
Keep the jog speed as low as possible, and always watch the robot. Failure to do so
could lead to interference with the workpiece or peripheral devices.
After editing the program, always confirm the operation with step operation before
starting automatic operation. Failure to do so could lead to interference with peripheral
devices because of programming mistakes, etc.
Make sure that if the safety fence entrance door is opened during automatic operation,
the door is locked or that the robot will automatically stop. Failure to do so could lead to
personal injuries.
Never carry out modifications based on personal judgments, or use non-designated
maintenance parts.
Failure to observe this could lead to faults or failures.
When the robot arm has to be moved by hand from an external area, do not place hands
or fingers in the openings. Failure to observe this could lead to hands or fingers catching
depending on the posture.
Do not stop the robot or apply emergency stop by turning the robot controller's main
power OFF.
If the robot controller main power is turned OFF during automatic operation, the robot
accuracy could be adversely affected.
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
WARNING
WARNING
CAUTION
WARNING
CAUTION
CAUTION
CAUTION
CAUTION
WARNING
CAUTION

C.Precautions for the basic configuration are shown below.(When CR1-571is used for the controller.)
Provide an earth leakage breaker that packed together on the primary power
supply of the controller as protection against electric leakage.
Failure to do so could lead to electric shock accidents.
CAUTION
Cover
Terminal cover
Rear side of controller
Earth leakage
breaker
(NV)
Protective earth
terminal
(PE)
Cover
Terminal
Power supply :Single phase 90-132VAC,180-253VAC.

Revision history
Date of print Specifications No. Details of revisions
2000-02-17 BFP-A8054Z-* ・First print
2000-03-24 BFP-A8054 ・The earth leakage breaker packaged is added.
・Writing error correction.
2000-04-11 BFP-A8054-A ・RP-1AH/3AH/5AH series was added.
2000-06-09 BFP-A8054-B ・The power supply voltage of CR1controller was corrected.
2000-12-18 BFP-A8054-C ・Writing error correction.
2001-03-21BFP-A8054-D ・Writing error correction.

■Introduction
Thank you for purchasing the Mitsubishi industrial robot.
This instruction manual explains the unpacking methods, installation, basic operation, maintenance and
inspection of the controller.
Always read through this manual before starting use to ensure correct usage of the robot.
・No part of this manual may be reproduced by any means or in any form, without prior consent from
Mitsubishi.
・The details of this manual are subject to change without notice.
・An effort has been made to make full descriptions in this manual. However, if any discrepancies or
unclear points are found, please contact your dealer.
・The information contained in this document has been written to be accurate as much as possible.
Please interpret that items not described in this document "cannot be performed.".
Please contact your nearest dealer if you find any doubtful, wrong or skipped point.
Copyright(C) 2000 MITSUBISHI ELECTRIC CORPORATION

Contents
i
Page
1Before starting use ......................................................................................................................................................................... 1-1
1.1Using the instruction manuals ............................................................................................................................................ 1-1
1.1.1The details of each instruction manuals ................................................................................................................ 1-1
1.1.2 Symbols used in instruction manual ........................................................................................................................ 1-3
1.2 Safety Precautions ................................................................................................................................................................. 1-4
1.2.1Precautions given in the separate Safety Manual ............................................................................................. 1-5
2 Unpacking to installation .............................................................................................................................................................. 2-7
2.1Confirming the products ....................................................................................................................................................... 2-7
2.2 Installation .................................................................................................................................................................................. 2-8
2.2.1Unpacking procedures ................................................................................................................................................... 2-8
2.2.2 Transportation procedures .......................................................................................................................................... 2-8
2.2.3 Installation procedures .................................................................................................................................................. 2-9
2.2.4 Connecting the power cable and grounding cable ........................................................................................... 2-10
(1) Setting the power specifications ........................................................................................................................ 2-10
(2) Connecting the power and grounding cable ................................................................................................... 2-11
2.2.5 Connecting the external emergency stop ........................................................................................................... 2-12
2.2.6 Connecting to the robot arm .................................................................................................................................... 2-12
2.3 Setting the origin ................................................................................................................................................................... 2-12
2.4 Confirming the operation .................................................................................................................................................... 2-12
3 Installing the option devices ..................................................................................................................................................... 3-13
3.1Installing the pneumatic hand interface and motorized hand interface .......................................................... 3-13
3.2 Installing the expansion option box ................................................................................................................................ 3-16
4 Basic operations ............................................................................................................................................................................ 4-19
4.1Handling the controller ........................................................................................................................................................ 4-20
4.1.1Functions of each key ................................................................................................................................................. 4-20
4.2 Handling the T/B ................................................................................................................................................................... 4-22
4.2.1Installing and removing the T/B .............................................................................................................................. 4-22
(1) Installing with the control power OFF .............................................................................................................. 4-22
(2) Removing with the control power ON ............................................................................................................... 4-22
(3) Installing with the control power ON ................................................................................................................ 4-22
4.2.2 Functions of each key ................................................................................................................................................. 4-23
4.3 Turning the power ON and OFF ...................................................................................................................................... 4-25
4.3.1Turning the control power ON ................................................................................................................................. 4-25
4.3.2 Shutting OFF the control power ............................................................................................................................. 4-25
4.4 Turning the servo power ON/OFF ................................................................................................................................. 4-26
4.4.1Turning the servo power ON (servo ON) ............................................................................................................. 4-26
4.4.2 Shutting OFF the servo power (servo OFF) ...................................................................................................... 4-26
4.5 Jog operation .......................................................................................................................................................................... 4-27
4.6 Opening and closing the hand .......................................................................................................................................... 4-27
4.7 Programming ............................................................................................................................................................................ 4-28
(1) Creation procedures ................................................................................................................................................ 4-28
(2) Robot work ................................................................................................................................................................... 4-28
4.7.1Creating the program ................................................................................................................................................... 4-29
(1) Deciding the operation order ................................................................................................................................ 4-29
(2) Deciding the operation position name .............................................................................................................. 4-30
(3) Describing and creating the program ................................................................................................................ 4-31
(4) Confirming the program .......................................................................................................................................... 4-36
(5) Correcting the program .......................................................................................................................................... 4-37
(6) Start automatic operation. .................................................................................................................................... 4-41
5 Maintenance and Inspection ..................................................................................................................................................... 5-43
5.1Maintenance and inspection interval ............................................................................................................................. 5-43

ii
Page
5.2 Inspection items ..................................................................................................................................................................... 5-44
5.2.1Daily inspection items .................................................................................................................................................. 5-44
5.2.2 Periodic inspections ..................................................................................................................................................... 5-44
5.3 Maintenance and inspection procedures ..................................................................................................................... 5-45
5.3.1Replacing the battery ................................................................................................................................................... 5-45
5.4 Maintenance parts ................................................................................................................................................................. 5-46

1Before starting use
Using the instruction manuals 1-1
1Before starting use
This chapter explains the details and usage methods of the instruction manuals, the basic terminology and the
safety precautions.
1.1Using the instruction manuals
1.1.1The details of each instruction manuals
The contents and purposes of the documents enclosed with this product are shown below. Use these documents
according to the application.
For special specifications, a separate instruction manual describing the special section may be enclosed.
Explains the common precautions and safety measures to be taken for
robot handling, system design and manufacture to ensure safety of the
operators involved with the robot.
Explains the product's standard specifications, factory-set special specifi-
cations, option configuration and maintenance parts, etc. Precautions for
safety and technology, when incorporating the robot, are also explained.
Explains the procedures required to operate the robot arm (unpacking,
transportation, installation, confirmation of operation), and the maintenance
and inspection procedures.
Explains the procedures required to operate the controller (unpacking,
transportation, installation, confirmation of operation), basic operation from
creating the program to automatic operation, and the maintenance and
inspection procedures.
Explains details on the functions and operations such as each function and operation, commands
used in the program, connection with the external input/output device, and parameters, etc.
Explains details on the MOVEMASTER commands used in the program.
(For RV-1A/2AJ series)
Safety Man-
ual
Standard
Specifica-
tions
Robot Arm
Setup to
Maintenance
Controller
Setup, Basic
Operation to
Maintenance
Explanation
of
Functions
and
Explanations
of MOVE-
MASTER
COMMANDS

1-2 Using the instruction manuals
1Before starting use
Explains the causes and remedies to be taken when an error occurs. Expla-
nations are given for each error No.
Trouble
-
shooting

1Before starting use
Using the instruction manuals 1-3
1.1.2 Symbols used in instruction manual
The symbols and expressions shown in Table 1-1are used throughout this User's Manual. Learn the meaning of
these symbols before reading this instruction manual.
Table 1-1：Symbols in instruction manual
Symbol Meaning
Precaution indicating cases where there is a risk of operator fatality or seri-
ous injury if handling is mistaken. Always observe these precautions to safely
use the robot.
Precaution indicating cases where the operator could be subject to fatalities
or serious injuries if handling is mistaken. Always observe these precautions to
safely use the robot.
Precaution indicating cases where operator could be subject to injury or
physical damage could occur if handling is mistaken. Always observe these
precautions to safely use the robot.
［JOINT ］If a word is enclosed in brackets or a box in the text, this refers to a key on
the teaching pendant.
［＋／ Ｆ Ｏ Ｒ Ｗ Ｄ ］ ＋ ［＋ Ｘ ］
（Ａ） （Ｂ）
This indicates to press the (B) key while holding down the (A) key.
In this example, the [+/Forward] key is pressed while holding down the [+X/
+Y] key.
［Ｓ Ｔ Ｅ Ｐ ／ ＭＯ Ｖ Ｅ］ ＋ ([ ＣＯＮＤ]→[ＲＰＬ ↓]）
（Ａ） （Ｂ） （Ｃ）
This indicates to hold down the (A) key, press and release the (B) key, and
then press the (C) key. In this example, the [Step/Move] key is held down, the
[Condition] key is pressed and released, and the [Replace ↓key is pressed.
Ｔ／Ｂ This indicates the teaching pendant.
DANGER
WARNING
CAUTION

1-4 Safety Precautions
1Before starting use
1.2 Safety Precautions
Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn
the required measures to be taken.
All teaching work must be carried out by an operator who has received special training.
(This also applies to maintenance work with the power source turned ON.)
→Enforcement of safety training
For teaching work, prepare a work plan related to the methods and procedures of oper-
ating the robot, and to the measures to be taken when an error occurs or when restart-
ing. Carry out work following this plan. (This also applies to maintenance work with the
power source turned ON.)
→Preparation of work plan
Prepare a device that allows operation to be stopped immediately during teaching work.
(This also applies to maintenance work with the power source turned ON.)
→Setting of emergency stop switch
During teaching work, place a sign indicating that teaching work is in progress on the
start switch, etc. (This also applies to maintenance work with the power source turned
ON.)
→Indication of teaching work in progress
Provide a fence or enclosure during operation to prevent contact of the operator and
robot.
→Installation of safety fence
Establish a set signaling method to the related operators for starting work, and follow
this method.
→Signaling of operation start
As a principle turn the power OFF during maintenance work. Place a sign indicating that
maintenance work is in progress on the start switch, etc.
→Indication of maintenance work in progress
Before starting work, inspect the robot, emergency stop switch and other related
devices, etc., and confirm that there are no errors.
→Inspection before starting work
CAUTION
CAUTION
WARNING
CAUTION
DANGER
CAUTION
CAUTION
CAUTION

1Before starting use
Safety Precautions 1-5
1.2.1Precautions given in the separate Safety Manual
The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.
Use the robot within the environment given in the specifications. Failure to do so could
lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise envi-
ronment, etc.)
Transport the robot with the designated transportation posture. Transporting the
robot in a non-designated posture could lead to personal injuries or faults from drop-
ping.
Always use the robot installed on a secure table. Use in an instable posture could lead
to positional deviation and vibration.
Wire the cable as far away from noise sources as possible. If placed near a noise
source, positional deviation or malfunction could occur.
Do not apply excessive force on the connector or excessively bend the cable. Failure
to observe this could lead to contact defects or wire breakage.
Make sure that the workpiece weight, including the hand, does not exceed the rated
load or tolerable torque. Exceeding these values could lead to alarms or faults.
Securely install the hand and tool, and securely grasp the workpiece. Failure to
observe this could lead to personal injuries or damage if the object comes off or flies
off during operation.
Securely ground the robot and controller. Failure to observe this could lead to mal-
functioning by noise or to electric shock accidents.
Indicate the operation state during robot operation. Failure to indicate the state could
lead to operators approaching the robot or to incorrect operation.
When carrying out teaching work in the robot's movement range, always secure the
priority right for the robot control. Failure to observe this could lead to personal inju-
ries or damage if the robot is started with external commands.
Keep the jog speed as low as possible, and always watch the robot. Failure to do so
could lead to interference with the workpiece or peripheral devices.
After editing the program, always confirm the operation with step operation before
starting automatic operation. Failure to do so could lead to interference with periph-
eral devices because of programming mistakes, etc.
Make sure that if the safety fence entrance door is opened during automatic opera-
tion, the door is locked or that the robot will automatically stop. Failure to do so could
lead to personal injuries.
Never carry out modifications based on personal judgments, or use non-designated
maintenance parts.
Failure to observe this could lead to faults or failures.
When the robot arm has to be moved by hand from an external area, do not place
hands or fingers in the openings. Failure to observe this could lead to hands or fingers
catching depending on the posture.
Do not stop the robot or apply emergency stop by turning the robot controller's main
power OFF.
If the robot controller main power is turned OFF during automatic operation, the robot
accuracy could be adversely affected.
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
WARNING
WARNING
CAUTION
WARNING
CAUTION
CAUTION
CAUTION
CAUTION
WARNING
CAUTION

1-6 Safety Precautions
1Before starting use

2Unpacking to installation
Confirming the products 2-7
2 Unpacking to installation
2.1Confirming the products
Confirm that the parts shown in the standard configuration of the controller shown in Table 2-1are enclosed with
the purchased product.
Users who have purchased options should refer to the separate "Standard Specifications". The primary power
supply cable and grounding cable must be prepared by the user.
Table 2-1：Standard configuration
No. Part name Type Qty. Remarks
1Controller CR1-5711unit With machine cable
2 Earth leakage breaker(NV) 1pc.
3 Safety Manual BFP-A8006 1copy
4 Standard Specifications BFP-A8050 1of
these
copy
RV-1A/RV-2AJ series type.
BFP-A8104 RP-1AH/3AH/5AH series type.
5 Instruction Manual
(Robot arm setup and maintenance)
BFP-A8052 1of
these
copy
RV-1A/RV-2AJ series type.
BFP-A5990 RP-1AH/3AH/5AH series type.
6 Instruction Manual
(Controller setup, basic operation and maintenance) BFP-A8054 1copy This book
7 Instruction Manual
(Detailed explanations of functions and operations) BFP-A5992 1copy
8 Instruction Manual
（Explanations of MOVEMASTER COMMANDS）BFP-A8056 1copy For RV-1A/RV-2AJ series type.
9 Instruction Manual
(Troubleshooting) BFP-A5993 1copy
10 Guarantee Card 1copy

2-8 Installation
2Unpacking to installation
2.2 Installation
2.2.1Unpacking procedures
Fig.2-1：Unpacking the controller
The controller is shipped from the factory packaged in cardboard. Unpack the controller with the following
procedure.
2.2.2 Transportation procedures
Fig.2-2 ：Transporting the controller
(1) Transport the controller by placing hands between the lower clearance created with the rubber legs on the
front and back sides, and lifting up the controller. Do not hold the switches or connectors.
Manuals, etc
Machine cable
Inner case-１
Inner case-２
Controller
Packaging
material
Note)The packaging material is required when transporting the controller again, so keep it in safekeeping.
1. Open the top of the cardboard box,
and remove the instruction manual.
2. Remove the inner case, and
remove the machine cable.
3. Remove the inner case 2,
and remove the controller.
!
!

2Unpacking to installation
Installation 2-9
2.2.3 Installation procedures
Fig.2-3 ：Installation dimensions
[Caution] A fan is installed on the bottom of the controller, so do not remove the rubber legs and install the
controller flat on a surface.
50
170 or more
SVO OFF STOP END
SVO ON
MODE
TEACH
AUTO
(Ext.)
AUTO
(Op.)
START RESET
DOWN
UP
STATUS NUMBER
REMOVE T/B
EMG.STOP
CHANG DISP
50

2-10 Installation
2Unpacking to installation
2.2.4 Connecting the power cable and grounding cable
The power supply voltage is classified as follows by the use robot type. The connection of the cable is to proceed
in each explanation clause, and do it.
*RP-1AH/3AH/5AH series, RV-1A/2AJ series
Power supply voltage : Choose 1-phase AC100V or 1-phase AC200V. (Default setting is 1-phase AC100V.)
Explanation clause : Do it from the following "(1)Setting the power specifications".
*Except the above
Power supply voltage : 1-phase AC200V fixation. (Default setting is 1-phase AC200V.)
Explanation clause : Proceed to "(2) Connecting the power and grounding cable" on page 11.
Fig.2-4 ：Connecting the power cable and grounding cable
(1) Setting the power specifications
1) Remove the controller cabinet cover.
2) Set the input power voltage setting connector on the power card (RZ802A: refer to Fig. 2-4) in the controller
as follows.
<When using as single-phase 200VAC>
Insert the "input power voltage setting connector" into the connector indicated as 200VAC (CON200V:
refer to Fig. 2-4) on the power card (RZ802A).
<When using as single-phase 100VAC> (Default setting)
Insert the "input power voltage setting connector" into the connector indicated as 100VAC (CON100V:
refer to Fig. 2-4) on the power card (RZ802A).
3) Install the controller cabinet cover.
If the voltage set with "input power voltage setting connector" and the actual input
voltage differ (ex. When input voltage is 200VAC even though 100VAC is set), the
error "input Power Voltage Setting Incorrect" (error No.850) will occur.
AC200V
AC200VAC200V
AC200V
AC100V
AC100VAC100V
AC100V
Input power voltage setting
Input power voltage settingInput power voltage setting
Input power voltage setting connector
connectorconnector
connector
Power card(RZ802A)
Power card(RZ802A)Power card(RZ802A)
Power card(RZ802A)
Power and grounding cable
Power and grounding cablePower and grounding cable
Power and grounding cable
(Prepared by user)
(Prepared by user)(Prepared by user)
(Prepared by user) Power supply connection
Power supply connectionPower supply connection
Power supply connection
terminal(M4)
terminal(M4)terminal(M4)
terminal(M4)
(With cover)
(With cover)(With cover)
(With cover)
Earth leakage
Earth leakageEarth leakage
Earth leakage
breaker
breakerbreaker
breaker
(NV)
(NV)(NV)
(NV)
Protective earth
Protective earthProtective earth
Protective earth
terminal
terminalterminal
terminal
(PE)
(PE)(PE)
(PE)
Power supply connection
Power supply connectionPower supply connection
Power supply connection
terminal
terminalterminal
terminal
L1
L1L1
L1
L2
L2L2
L2
FG
FGFG
FG
Use an earth leakage breaker in the package on the primary power
supply of the controller to protect against leakage currents.
Failure to observe this could lead to electric shock accidents.
CAUTION
CAUTION

2Unpacking to installation
Installation 2-11
(2) Connecting the power and grounding cable
1) Prepare the 2 power cables and 1grounding cable (both 2mm2or more).
2) Remove the two M4 screws for the power supply terminal block cover on the rear of the controller.
3) Confirm that the primary power is set to the power specifications set in "(1)Setting the power specifications"
above.
4) Confirm that the primary power is OFF, and that the power switch on the front of the controller is OFF.
5) Connect the 1power cable to the power supply terminal on the back of the controller. (L1and L2 from the
top.) Connect the opposition side to the secondary terminal of the earth leakage breaker packaged. (Terminal
of the bottom side.)
6) Connect the grounding cable to the grounding terminal on the power supply terminal block. (Lowest terminal.)
7) Connect the one rest of the power cable with the primary terminal of the earth leakage breaker. (Terminal of
the upside)
8) Install the power supply terminal block cover removed in step "2)".
This completes the connection of the power and grounding cables.
Note:Do the installation of the earth leakage breaker packaged by the user. The length of the power cable varies
according to the distance between the installation place and the controller.

2-12 Setting the origin
2Unpacking to installation
2.2.5 Connecting the external emergency stop
Fig.2-5 ：Connecting the external emergency stop
For safety purposes, install the External emergency stop switch at an easy-to-operate place.
The external emergency stop input and door switch input terminal block are short-circuited with a short bar (short
piece) as shown in Fig. 2-5.
Connect the external emergency stop switch and door switch with the following procedures.
Refer to the standard specifications for details on the door switch functions.
1) Prepare the emergency stop switch and door switch.
2) Loosen the wire fixing screw on the terminal block, and remove the short bars 1and 2.
3) Securely connect the external emergency stop contact across "1-2" on the terminal block, and connect the
door switch contact across "3-4" on the terminal block. The connection method is indicated below.
a) Loosen the wire fixing screw on the terminal block, and open the wire insertion port.
b) Peel 5 to 7mm of the sheath off the wire (AWG24 to 16 recommended).
c) Insert the wire into the wire insertion port.
d) Securely tighten the wire fixing screw to fix the wire.
2.2.6 Connecting to the robot arm
Refer to the separate manual "Robot arm setup and maintenance", and connect the controller and robot arm with
machine cables.
2.3 Setting the origin
Refer to the separate manual "Robot arm setup and maintenance", and set the origin.
2.4 Confirming the operation
Refer to the separate manual "Robot arm setup and maintenance", and confirm the robot operation with jog
operation.
RA1
RA2
RA3
RG (24G)
RG (24G)
24V
24V
EMG.
STOP
DOOR
Switch
1
2
3
4
5
6
RA2
1
2
3
4
5
6①
②
③
④
⑤
⑥
Short piece 1
Short piece 2
Emergency stop input
Door switch input
Emergency stop output
Composition of external emergency stop and door switch
System emergency
stop line
(Prepared by user)
Example of wiring for external emergency stop and door switch
Controller rear side
Terminal block array of
external emergency stop
Wire insert
Wire fixing screw
Output the system emergency stop output when either following the switch or the signal is turned on.
・Emergency stop switch of the controller
・Emergency stop switch or deadman switch of the T/B
・External emergency stop input signal
・External door input signal