Yamaha RCX240, Руководство пользователя

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Chapter 7 SAFETY I/O INTERFACE
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Chapter 7 SAFETY I/O INTERFACE
7-3
1.2 Connector I/O signals
PIN I/O No. Name Remarks
1 DI02 SERVICE mode NPN/PNP specs conform to
STD. DIO settings.
Common terminal: P. COM / N. COM
2 MP READY Motor power ready
3 E-STOPIN1 Emergency stop input 1
4 E-STOPIN2 Emergency stop input 2
5 E-STOPIN3 Emergency stop input 3
Usable only when enable switch
compatible programming box is
used. (RPB-E)
6 E-STOPIN4 Emergency stop input 4
7 LCKIN1 Enable switch input 1
8 LCKIN2 Enable switch input 2
9 LCKIN3 Enable switch input 3
10 LCKIN4 Enable switch input 4
11 P.COM DC+24V output
Outputs P.COMDI input of STD.
DIO.
12 N.COM GND (N.COMDI)
Connected to N.COMDI terminal
of STD.DIO via diode.
13 E-STOP24V Emergency stop input power
14 E-STOPRDY
Emergency stop READY
signal
15 Reserved Do not use.
c
CAUTION
• on the sAfetY connector supplied with the controller, pin 3 is shorted to pin 13,
and pin 4 is shorted to pin 14. Use these pins to make an interlock circuit to
ensure the system including the robot controller operates safely.
• do not connect an external dc 24v to e-stop24v.
• npn and pnp specifications are each defined in " 7. i/o connections" in chapter 3.
• do not connect any external signals to the reserved terminals.
• when using di02 and Mp reAdY, supply power to the dc24v and gnd terminals
of STD.DIO.
• Maximum output current for Mp reAdY is 100mA.
1. SAFETY I/O interface overview