Yamaha RCX222, Руководство пользователя

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Chapter
6
SAFETY
I/O INTERF
ACE
1.7 Input signal description
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CAUTION
See "7. I/O connections" in Chapter 3 for a definition of NPN and PNP
specifications.
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NOTE
• NPN and PNP specifications are determined by the DI.COM and
DO.COM inputs.
• A 7mA input current is required.
1. DI02 Service mode input (SERVICE: DI02)
Service mode input can only be used on robot controllers with "SAFE" mode enabled.
When the DI02 contact is open (OFF), the robot controller service mode is set for
exclusive control for operating levels, operating speed limits and operating devices
conforming to the service mode parameter settings. Normal mode is enabled when
the DI02 contacts are closed (ON).
If a serial I/O option board is installed, "SERVICE" mode is entered when either one
of the SI02 or DI02 contact is open (OFF). (Normal mode is entered only when both
SI02 and DI02 contacts are closed (ON).)
If the service mode input is changed, the program being executed will pause or
ongoing robot jog movement will pause.
2. DI11 Interlock input (INTERLOCK: DI11)
Interlock input is used to temporarily stop robot movement during execution of a
program or manual operation of a robot. When the DI11 contact is opened (OFF), the
message "Interlock on" appears and the program and robot operation then stop. The
program cannot be executed and robot manual operation is disabled when the DI11
contact is open.
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WARNING
INTERLOCKS ARE NOT SAFETY INPUTS, AND SHOULD NOT BE USED FOR SAFETY
PURPOSES.
SERvOS DO NOT SWITCH OFF EvEN IF AN INTERLOCK IS APPLIED.
1. SAFETY I/O interface overview