Circuit Examples For The Rcx240 - Yamaha CEmarking RCX240 Supporting Supplement Manual

5.1 External safety circuit examples

5.1.2 Circuit examples for the RCX240

1
The following shows category-specific safety circuit configuration examples for the
RCX240.
Customers should install the appropriate safety measures for their system by referring to
these safety circuit configuration examples in order to use the robots more safely.
2
The example shown here provide the following input/output signals.
Input Reset switch, maintenance mode switch, door switch, and external emergency stop
Output Programming box emergency stop output and enable output
c
3
CAUTION
The controller status output signals of the parallel I/O and serial I/O, such as
alarm signals, should be monitored by the host device.
4
■ Overall connection diagram (with enable switch)
L1
AC IN
N1
5
Reset
Maintenance
Door
External
emergency stop
6
OUT
+24V
GND
5-2
Chapter 5 EXTERNAL SAFETY CIRCUIT EXAMPLES
Safety circuit
AC OUT
Safety output
Wiring to check whether controller
is normal when using alarm to shut
off main power
KA1
Wiring to check whether controller is
normal when not using alarm to shut
+24V
off main power
KA1
GND
+24V
GND
To PLC
Controller
L1
N1
(PNP specifications)
L
N
SAFETY
3
4
5
6
7
8
9
10
1
SERVICE(DI02)
P.COMDI
+5V
P.COM
11
2 MPRDY
12 N.COM
N.COMDI
13 E-STOP24V
Internal+24V
14 E-STOPRDY
+24V_GND
STD.DIO
27
COMMON
29
CPU_OK (contact A (normally open))
47
48
P.COMDI
49
50
N.COMDI
Input/output signals
RPB-E
Emergency stop Enable
RPB
13
14
15
16
17
18
19
20
MPRDY
Status
E-STOP
Status
GND