Yamaha RCX Series User Manual page 19

• Interlock signal in SAFETY connector is valid. (RCX221/222)
• When the Board condition (external 24V monitor control) of system parameters is
left valid while SAFE mode is enabled, service mode input signal is made valid
with DI (02) in SAFETY connector (RCX40/141/142)
• When SAFE mode is enabled, service mode input signal is made valid with DI (02)
in SAFETY connector. (RCX221/222)
* The signals in the CC-Link system are not sent or received.
* The "CC-Link Communication Error" is added to the error history in the robot
controller.
* If the connection to the CC-Link system shifts from the normal state to the
erroneous state, the CC-Link system connection must be returned to the normal
state.
* The CC-Link system will return when the CC-Link system connection is recovered
to the normal state.
e CC-Link system erroneous connection state due to following factors when robot
controller power is turned ON
• Connection to CC-Link system not possible
• Error in master station PLC
Robot
controller
• Emergency stop/interlock signals in CC-Link system are invalid
• When SAFE mode is enabled, service mode input signal is made valid with SI (02)
in the CC-Link system.
• Emergency stop terminal in SAFETY connector is valid.
• Interlock signal in STD. DIO connector is valid unless the Board condition (external
24V monitor control) of system parameters is set invalid. (RCX40/141/142)
• Interlock signal in SAFETY connector is valid. (RCX221/222)
• When the Board condition (external 24V monitor control) of system parameters is
left valid while SAFE mode is enabled, service mode input signal is made valid
with DI (02) in SAFETY connector (RCX40/141/142)
• When SAFE mode is enabled, service mode input signal is made valid with DI (02)
in SAFETY connector. (RCX221/222)
* The signals on the CC-Link system cannot be exchanged.
* As opposed to the state given in w, in this state, the emergency stop state by SI (00)
is not attained in the controller, so the robot can be operated from the
programming unit. (The robot controller can be started independently when setting
up the system, etc.)
5. Shift of CC-Link system connection status and robot controller status
Master station
PLC
Robot Master station
controller PLC
Chapter
1
1-7