Yamaha RCX222, User Manual

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6-8 6-9
Chapter
6
SAFETY
I/O INTERF
ACE
Operation description:
• The RPB-E emergency stop switch and external emergency stop switch are
connected in series. The enable switch is also connected in series to the RPB-E
emergency stop switch, but can be bypassed with the service key switch.
1. When the service key switch contact is closed:
The enable switch is inoperable at this point.
a. In normal operation, E-STOP24V is connected to E-STOPRDY via the RPB-E
emergency stop switch and SAFETY connector, and the motor power relay in the
controller turns on.
b. When emergency stop is triggered, power to E-STOPRDY of the SAFETY connector
is cut off and the motor power supply turns off. Emergency stop is triggered if the
RPB-E and SAFETY connector are removed.
2. When the service key switch contact is open:
The enable switch is operable at this point.
a. In normal operation, E-STOP24V is connected to E-STOPRDY via the RPB-E
emergency stop switch, enable switch and SAFETY connector, and the controller
internal motor power relay turns on.
b. When emergency stop is triggered, power to E-STOPRDY of the SAFETY connector
is cut off and the motor power supply turns off. Emergency stop is triggered if the
RPB-E and SAFETY connector are removed.
• Pins 13 and 14, pins 15 and 16, pins 17 and 18, pins 19 and 20, and pins 21 and
22 on the RPB connector are shorted in the RPB terminator that comes with the
robot controller.
• Pin 1 is shorted to pin 10, pins 2, 3, 11 and 14 are shorted together, and pin 12 is
shorted to pin 13 in the SAFETY connector that comes with the robot controller.
c
CAUTION
• E-STOPRDY requires at least 100mA for the relay and photocoupler drive
current.
• Do not use E-STOP24v for anything other than emergency stop, interlock
and service mode inputs.
1. SAFETY I/O interface overview