Yamaha CEmarking RCX221, User Manual

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6-14
Chapter
6
SAFETY
I/O INTERF
ACE
4. Enable switch inputs 1, 2, 3, 4 (LCKIN1, 2, 3, 4)
Enable switch inputs are used when making the interlock circuit to ensure the system
including the robot controller will operate safely. Refer to the connection examples
in this chapter when making actual connections.
Enable switch inputs are valid only when an RPB-E (RPB compatible with an enable
switch) is used.
5. KEY switch inputs 1, 2 (KEY1, 2)
These are auxiliary contact inputs used to input signals such as a signal that
enables or disables the service mode. Use these inputs as needed according to your
specifications and application.
1.8 Meaning of output signals
1. MPRDY output
This output signal turns on when the controller is ready to receive the main power
input from an external device. This output is on before the servo turns on.
This output turns off if an internal error occurs or MPON signal turns off. Supply this
output to a PLC or external device to allow it to determine the on/off conditions of
the main power supply.
2. SERVO OUT output
This output turns on when the servo turns on. This output is available even when only
one axis is at servo-on. This output turns off when all axis servos are off.
1. SAFETY I/O interface overview