Yamaha RCX240, User Manual

Page: 71 / 620

3-26
Chapter 3 INSTALLATION
4
1
2
3
5
6
7
8
9
10
Chapter 3 INSTALLATION
3-27
13.2 Emergency stop input signal connection
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.
• A 24 V supply is required to operate MP READY. Supply a 24 V to pins 47 to 50 of
the STD.DIO. As long as the 24 V is supplied to those pins, the "Watch on STD.DIO
DC24V" parameter cannot be set to "INVALID".
GND
GND
24V
13
14
13
12
11
14
2
3
4
RPB
E-STOP24V
E-STOPRDY
MP READY
E-STOPIN1
E-STOPIN2
AC 200V
AC 200V
L
N
L1
N2
RPB connector
RCX240
SAFETY
connector (supplied)
SAFETY
connector
Use an external control circuit.
Emergency stop button
Motor power
supply
relay coil
Motor power
supply circuit
Control power
supply
Internally connected
to P.COM (STD.DIO)
Internally connected
to N.COM (STD.DIO)
Emergency stop input signal connection
• The emergency stop button on the RPB is connected to the controller through the SAFETY
connector.
c
CAUTION
Pin 11 of the SAFETY connector, pin 12 of the P.COM SAFETY connector of the STD.
DIO, and N.COM of the STD.DIO are internally connected in the controller.
Do not connect the SAFETY connector and STD.DIO connector to different power
supplies. Doing so may cause malfunction
13. Checking the robot controller operation