Yamaha RCX240, User Manual

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Chapter 7 SAFETY I/O INTERFACE
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1. SAFETY I/O interface overview
The robot controller is provided with SAFETY I/O interfaces for compatibility with the system used
by the customer. A description of the I/O terminals and connection methods are explained below.
Connect the I/O terminals correctly for effective operation.
The input signal is from hereon referred to as DI and the output signal as DO.
Specifications Connector name Connector model No. Wire thickness
SAFETY SAFETY D-SUB15 (male) 0.3 sq
1.1 Power
The emergency stop input utilizes internal power for emergency stop.
The dedicated input utilizes external 24V power connected via the standard I/O interface.
c
CAUTION
Do not keep supplying the external 24V DC power to the standard I/O interface
while controller power is off. The controller might malfunction if the external 24V is
continuously supplied.
1. SAFETY I/O interface overview