Yamaha CEmarking RCX221, User Manual

Page: 72 / 468

4-4
Chapter
4
OPERA
TION
t
Selector switch (RPB-E only)
This switch can be used as needed by wiring to the SAFETY connector by the user.
The switch ON/OFF function is disabled if not wired correctly.
y
3-position enable switch (RPB-E only)
This switch is provided for safety. Pressing it to mid-position only allows robot
operation.
This switch does not function unless pins 1 to 4 (for enable switch) of the SAFETY
connector are correctly wired.
Switch is released : Emergency stop.
Switch is pressed to mid position : Operation possible
Switch is fully pressed
: Emergency stop
Configure the external safety circuit so that this enable switch functions as described
above.
3.3 Connection to the robot controller
Connect the RPB programming box to the RPB connector on the front panel of the robot
controller.
Connect the cable securely since poor connections might cause malfunctions or
breakdowns.
n
NOTE
Emergency stop is triggered when the RPB is connected to or disconnected
from the robot controller while the power is on. If this happens, emergency
stop must be cancelled to continue operation.
■
Robot controller connection
RCX221
XM
YM
MOTOR
RGEN
TEMP
ACIN
N
L
L1
N1
SAFETY
RPB
ROB
I/O
SD/COM
E-STOP
PIN11-12
EXT.E-STOP
OP.1
OP.2
!
SRV
ERR
RDY
RPB
RPB programming box
RPB connector
3. RPB programming box