YRC ser
ies
2-15
2
3.2
Circuit examples for the YRC
The following shows category-specific safety circuit configuration examples for the YRC.
Customers should install the appropriate safety measures for their system by referring to these safety circuit
configuration examples in order to use the robots more safely.
The example shown here provide the following input/output signals.
Input
Reset switch, maintenance mode switch, door switch, and external emergency stop
Output
Programming box emergency stop output and enable output
CAUTION
The controller status output signals of the parallel I/O and serial I/O, such as alarm signals, should be monitored by the host device.
Overall connection diagram (with enable switch)
Controller
(PNP specifications)
Safety circuit
PB
AC OUT
Emergency stop
17
18
19
20
13
14
15
16
3
I24V
External
emergency stop
Door
Maintenance
AC IN
OUT
Safety output
PB
SAFETY
MPRDY
Status
Reset
N1
L1
N
L
N1
L1
4
5
6
7
8
9
10
1
2
11
13
14
SERVICE(DI02)
MPRDY
E-STOP24V
E-STOPRDY
+5V
P.COM
P.COMDI
N.COMDI
12
E-STOP
Status
GND
+24V_GND
47
48
49
50
27
29
STD.DIO
COMMON
CPU_OK (contact A (normally open))
P.COMDI
N.COMDI
+24V
GND
KA1
+24V
GND
To PLC
Input/output signals
KA1
+24V
GND
Wiring to check whether controller
is normal when using alarm to shut
off main power
Wiring to check whether controller is
normal when not using alarm to shut
off main power
Enable
N.COM
