Yamaha CEmarking RCX221, Supporting Supplement Manual

Page: 66 / 92

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Chapter 5 EXTERNAL SAFETY CIRCUIT EXAMPLES
5.1.3 Circuit examples for the RCX221/RCX222
The following shows category-specific safety circuit configuration examples for the
RCX221/RCX222.
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
c
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)
AC OUT
Emergency stop Enable
17
18
19
20
13
14
15
16 13
Controller
(PNP specifications)
24V
External
emergency stop
Door
Maintenance
AC IN
RPB-E
OUT
Safety output
RPB
SAFETY
Reset
N1
L1
N
L
N1
L1
14
15
16
17
18
19
20
3
5
4
11
12
SERVICE(DI02)
MPRDY
E-STOP24V
E-STOPRDY
DO.COM
6 SERVO OUT
E-STOP
Status
GND
GND
+24V_GND
1
2
17
STD.DIO
CPU OK
+24V
+24VG
+24V
GND
KA1
To PLC Input/output signals
+24V
KA1
GND
2
INTERLOCK
1
DI.COM
GND
+24V
GND
Power connector
IO connector
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
Safety circuit
5.1 External safety circuit examples