1.2.1 Basic configuration ………………………………………………………………………………… 2-2
1.2.2 Power supply and emergency stop system circuit configuration ………………………… 2-3
1.3 Programming box (PB) ……………………………………………………………… 2-4
1.3.1 Part names and functions ………………………………………………………………………… 2-4
1.3.2 PB connector ………………………………………………………………………………………… 2-5
1.4 SERVICE mode ………………………………………………………………………… 2-6
1.4.1 What is SERVICE mode? …………………………………………………………………………… 2-6
1.4.2 Flow for enabling the SERVICE mode functions ……………………………………………… 2-7
1.4.3 SERVICE mode parameter settings ……………………………………………………………… 2-7
2. EMC countermeasure examples
2.1 YRC robot controller ………………………………………………………………… 2-9
2.1.1 Configuration ………………………………………………………………………………………… 2-9
2.1.2 Countermeasure components ………………………………………………………………… 2-10
3. External safety circuit examples
3.1 Performance level …………………………………………………………………… 2-14
3.2 Circuit examples for the YRC ……………………………………………………… 2-15
3.2.1 Category 4 ………………………………………………………………………………………… 2-17
3.2.2 Category 3 ………………………………………………………………………………………… 2-18
3.2.3 Category 2 ………………………………………………………………………………………… 2-19
3.2.4 Overview of circuit operation ………………………………………………………………… 2-20
