Circuit Examples For The Rcx221/Rcx222 - Yamaha CEmarking RCX240 Supporting Supplement Manual

5.1 External safety circuit examples

5.1.3 Circuit examples for the RCX221/RCX222

1
The following shows category-specific safety circuit configuration examples for the
RCX221/RCX222.
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
5-8
Chapter 5 EXTERNAL SAFETY CIRCUIT EXAMPLES
Safety circuit
AC OUT
Safety output
GND
+24V
Wiring to check whether controller
is normal when using alarm to shut
off main power
KA1
GND
+24V
GND Wiring to check whether controller is
normal when not using alarm to shut
off main power
KA1
GND
To PLC
Controller
L1
(PNP specifications)
N1
L
N
SAFETY
13
14
15
16
17
18
19
20
1
DI.COM
2
INTERLOCK
3
SERVICE(DI02)
4 DO.COM
5 MPRDY
6 SERVO OUT
11 E-STOP24V
nternal+24V
12 E-STOPRDY
+24V_GND
STD.DIO
Power connector
1
+24V
2
+24VG
IO connector
17
CPU OK
Input/output signals
RPB-E
Emergency stop Enable
RPB
13
14
15
16
17
18
19
20
E-STOP
Status
GND