Yamaha RCX240, User Manual

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Chapter 7 SAFETY I/O INTERFACE Chapter 7 SAFETY I/O INTERFACE
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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 close:
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 turns on the controller internal motor power
relay.
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.
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.
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 turns on the controller internal
motor power relay.
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, and pins 19 and 20 on the RPB connector
are shorted in the RPB 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.
1. SAFETY I/O interface overview