Yamaha CEmarking RCX221, User Manual

Page: 52 / 468

3-14
Chapter
3
INST
ALLA
TION
6. Connecting the RPB programming box
6. Connecting the RPB programming box
As shown in the figure below, the RPB should be connected to the RPB connector on the
front panel of the robot controller. If not connecting the RPB, plug a terminator (supplied
as an accessory) into the RPB connector.
c
CAUTION
Use caution since the RPB connector must be connected in the correct
direction. Connecting in the wrong direction may cause malfunctions or
breakdowns.
■
RPB programming box connection
RCX221
XM
YM
MOT
OR
RGEN
TEM
P
ACIN
N
L
L1
N1
SAFET
Y
SRV
ERR
RPB
ROB
I/O
SD/COM
RDY
E-ST
OP
EXT.E-ST
OP
PIN1
1-12
OP.1
OP.2
!
RPB programming box
●
Connecting a terminator
If not connecting the RPB, plug the terminator (supplied) into the RPB connector.
■
Connecting a terminator
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
RCX221
M
M
R
RGEN
TEMP
ACIN
N
L
L1
N1
SAFET
Y
SRV
ERR
RPB
ROB
I/O
M
RDY
E-ST
OP
EXT.E-ST
OP
PIN1
1-12
OP.2
!
c
CAUTION
If not connecting the RPB, always be sure to plug the terminator (supplied)
into the RPB connector.
Emergency stop in the robot controller is triggered when the RPB is
disconnected from the robot controller, because a B-contact (normally
closed) type emergency stop button is provided on the RPB. Plug the RPB
terminator into the RPB connector to avoid such an emergency stop.