Yamaha CEmarking RCX221, User Manual

Page: 60 / 468

3-22
Chapter
3
INST
ALLA
TION
11. Checking the robot controller operation
11. Checking the robot controller operation
This section explains how to check the controller operation using a special connector that
comes with the controller and an applicable robot. Before beginning this check, finish
making connections to the following items.
• Power supply (Do not supply power until you actually begin the operation check.)
• Robot cable
• RPB programming box
• Regenerative unit (if needed)
• SAFETY connector (supplied)
(Pins 1 and 10 are shorted, pins 2, 3, 11 and 14 are shorted, and pins 12 and 13 are
shorted in the SAFETY connector.)
The connection status of emergency stop input signal is described in detail in Chapter
6, "SAFETY I/O interface".
11.1 Cable connection
■
Cable 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
!
YAMAHA robot
RPB
SAFETY connector
(supplied)