Yamaha RCX240, User Manual

Page: 488 / 620

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Chapter 7 SAFETY I/O INTERFACE
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Chapter 7 SAFETY I/O INTERFACE
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Connections using the RPB-E (RPB compatible with an enable switch) with external
emergency stop circuit
c
CAUTION
External emergency stop and the RPB 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.
24V
RPB connector
20
19
18
17
16
15
14
13
13
MP READY
LCKIN4
DI02
P.COM
E-STOPRDY
E-STOP24V
LCKIN3
LCKIN2
LCKIN1
E-STOPIN4
E-STOPIN3
E-STOPIN2
E-STOPIN1
12
2
14
11
1
10
9
8
7
6
5
4
3
SAFETY
connector
RPB-E
External emergency
stop circuit
Emergency
stop switch
Service key
switch
Emergency
stop switch
Enable
switch
GND
L
N
Motor power
relay coil
Motor power
supply circuit
L1
N1
Control power
supply
Use an external
control circuit.
Internally connected
to P.COM (STD.DIO)
Internally connected
to N.COM (STD.DIO)
Connections using the RPB-E (RPB compatible with an enable switch)
with external emergency stop circuit (PNP specifications)
1. SAFETY I/O interface overview