Yamaha RCX142 User Manual page 369

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.
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.
Connections using the MPB-E2 (MPB compatible with an enable switch) with
external emergency stop circuit (PNP specifications)
2 4 V
Emergency stop
detection circuit
G N D
Operation description:
• The MPB-E2 emergency stop switch and external emergency stop switch are con-
nected in series. The enable switch is also connected in series to the MPB-E2 emer-
gency 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, EMG 24V is connected to EMG RDY via the MPB-E2 emer-
gency stop switch and SAFETY connector, and the controller checks that emer-
gency 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-E2 and SAFETY connector are removed.
1. SAFETY I/O interface overview
MPB connector
1 3
1 4
1 5
1 6
1 7
1 8
1 9
2 0
SAFETY
connector
3 EMGIN1
4 EMGIN2
5
EMGIN3
6 EMGIN4
7 L C K I N 1
8
L C K I N 2
9 L C K I N 3
1 0 L C K I N 4
1 3
EMG24V
EMGRDY
1 4
1 D I 0 2
1 1 P . C O M
Emergency Enable
stop switch switch
M P B - E 2
Service key
switch
Emergency
stop switch
7
External emergency
stop circuit
7
7-