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3. Communication specifications
3.1
Connector
The RS-232C interface connector is located on the front panel of the robot controller as
shown below.
■ RS-232C interface
RCX221
MOTOR
XM
TEMP
L
N
L1
N1
YM
Specifications of the RS-232C interface connector installed on the robot controller are
shown below.
1. A D-SUB 9-pin female connector is installed on the robot controller, so use a
connection cable with a D-SUB 9-pin male connector.
2. Pin arrangement of D-SUB 9-pin connector is as follows.
Pin No.
1
2
3
4
5
6
7
8
9
OP.1
RGEN
SRV
ERR
RDY
E-STOP
ROB
I/O
ACIN
RPB
OP.2
!
SAFETY
EXT.E-STOP
PIN11-12
SD/COM
Name
Description
NC
Not used
RXD
Receive data
TXD
Send data
NC
Not used
GND
Ground
NC
Not used
RTS
Request to send
Permission to
CTS
send
NC
Not used
3. Communication specifications
Input/output
Input
Output
Output
Input
Chapter
7
7-3
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