Rcx142-T - Yamaha RCX142 User Manual

1. SAFETY I/O interface overview
c
CAUTION
External emergency stop and the
MPB emergency stop button are
disabled when pin 13 and pin 14 are
directly shorted to each other on the
SAFETY connector. Make connec-
tions to ensure the system including
the robot controller will always
operate safely.
7
c
CAUTION
• EMG RDY requires at least
100mA for the relay and
photocoupler drive current.
• Do not use EMG 24V for
anything other than emergency
stop.
6
7-
1.4.2

RCX142-T

Connections using the standard MPB programming box with external emergency
stop circuit
2 4 V
Emergency stop
detection circuit
G N D
Operation description:
• The MPB emergency stop switch and external emergency stop switch are connected
in series.
a. In normal operation, EMG 24V is connected to EMG RDY via the MPB emergency
stop switch and SAFETY connector, and the controller checks that emergency stop
is released.
b. When emergency stop is triggered, power to EMG RDY of the SAFETY connector
is cut off and the controller detects the emergency stop and halts the robot. Emer-
gency stop is triggered if the MPB and SAFETY connector are removed.
• Pins 13 and 14 on the MPB connector are shorted in the MPB 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.
MPB connector
1 3
1 4
SAFETY
connector
3
E M G I N 1
4
E M G I N 2
1 3
E M G 2 4 V
1 4
E M G R D Y
Emergency stop switch
MPB
Emergency stop switch
External emergency
stop circuit