Yamaha RCX141, User Manual

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2.2 Power supply .................................................................................... 5-17
2.3 Connector I/O signals ....................................................................... 5-18
2.4 Connector pin numbers .................................................................... 5-19
2.5 Typical input signal connection ........................................................ 5-20
2.6 Typical output signal connection ...................................................... 5-20
2.7 General-purpose I/O signals .............................................................. 5-20
2.7.1 General-purpose input signals ........................................................................ 5-20
2.7.2 General-purpose output signals ...................................................................... 5-20
2.7.3 General-purpose output signal reset (off) ......................................................... 5-21
3. Ratings .....................................................................................5-22
4. Caution items ..........................................................................5-23
Chapter 6 SAFETY I/O interface
1. SAFETY I/O interface overview .................................................6-1
1.1 Power ................................................................................................. 6-1
1.2 Connector I/O signals ......................................................................... 6-1
1.3 Connector terminal numbers ............................................................... 6-2
1.4 Emergency stop input signal connections ............................................ 6-3
1.5 Dedicated input signal connections .................................................... 6-6
1.6 Input signal description ....................................................................... 6-7
Chapter 7 RS-232C interface
1. Communication overview ..........................................................7-1
2. Communication function overview............................................7-2
3. Communication specifications ...................................................7-3
3.1 Connector ........................................................................................... 7-3
3.2 Transmission mode and communication parameters ........................... 7-4
3.3 Communication flow control .............................................................. 7-5
3.3.1 Flow control during transmit ............................................................................. 7-5
3.3.2 Flow control during receive .............................................................................. 7-5
3.4 Other caution items ............................................................................ 7-6
3.5 Character code table ........................................................................... 7-8
3.6 Connecting to a PC ............................................................................. 7-9
Chapter 8 Specifications
1. Controller basic specifications ...................................................8-1
2. Controller basic functions..........................................................8-2
3. Robot controller external view ..................................................8-3
3.1 RCX141 external view ........................................................................ 8-3
4. MPB basic specifications and external view...............................8-4
Chapter 9 Troubleshooting
1. Error Messages ...........................................................................9-1
1.1 Robot controller error messages .......................................................... 9-1
[ 0] Warnings and messages ............................................................................................ 9-3
[ 1] Warnings (error history entry) .................................................................................... 9-5