Yamaha RCX142, User Manual

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3
7
SAFETY I/O interface
1. SAFETY I/O interface overview
1.4 Emergency stop input signal connections
1.4.1 RCX142
Connections using the standard MPB programming box with external emergency
stop circuit
G N D
G N D
2 4 V
MPB connector
1 3
1 4
1 3
1 4
3
4
SAFETY
connector
MPB
AC 200V power supply
External emergency stop circuit
Emergency stop switch
Emergency stop switch
E M G R D Y
E M G 2 4 V
E M G I N 2
E M G I N 1
Motor power
relay coil
Motor power
supply circuit
Operation description:
• The MPB emergency stop switch and external emergency stop switch are connected
in series.
a. In normal operation, EMG 24V is connected to EMG RDY via the MPB emergency
stop switch and SAFETY connector, and turns on the controller internal motor power
relay.
b. When emergency stop is triggered, power to EMG RDY of the SAFETY connector
is cut off and the motor power supply turns off. Emergency stop is triggered if the
MPB and SAFETY connector are removed.
• Pins 13 and 14 on the MPB connector are shorted in the MPB terminator that comes
with the robot controller.
• Pin 3 is shorted to pin 13, and pin 4 is shorted to pin 14 in the SAFETY connector that
comes with the robot controller.
c
CAUTION
External emergency stop and the
MPB emergency stop button are
disabled when pin 13 and pin 14 are
directly shorted to each other on the
SAFETY connector. Make
connections to ensure the system
including the robot controller will
always operate safely.
c
CAUTION
• EMG RDY requires at least
100mA for the relay and
photocoupler drive current.
• Do not use EMG 24V for
anything other than emergency
stop.