Input Signal Description - Yamaha RCX240 User Manual

1.6

Input signal description

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CAUTION
See "7. I/O connections" in Chapter 3 for a definition of NPN and PNP specifications.
1. SERVICE mode input (DI02)
The SERVICE mode input can only be used on robot controllers with SAFE mode enabled.
When the DI02 contact is open (OFF), the controller is in "SERVICE " with the operation level,
operating speed limit, and excusive control of the operating devices specified by the "SERVICE"
mode parameters.
If a serial I/O option board is installed, "SERVICE" mode is entered when either one of the
SI02 or DI02 contact is open (OFF). (Normal mode is entered only when both SI02 and DI02
contacts are closed (ON).)
If the SERVICE mode input is changed, the program being executed will pause or ongoing robot
jog movement will pause.
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NOTE
• NPN and PNP specifications are determined by the STD. DIO setting.
• Robot controllers with SAFE mode enabled will always be in service mode when
an external 24V is not supplied to STD. DIO. This can be cancelled using a
software parameter.
• A 7mA input current is required.
2. Emergency stop inputs (E-STOP24V, E-STOPRDY, E-STOPIN1, 2, 3, 4)
Emergency stop signal inputs are used when making the interlock circuit to ensure the system
including the robot controller will operate safely. Contacts must be closed for the system
to function normally. Refer to the connection examples in this chapter when making actual
connections.
Closing the emergency stop contact points (ON) allows turning on the servo power supply. The
servo power supply cannot be turned on when the emergency stop contact points are open (OFF).
Emergency stop signal inputs 3 and 4 are valid only when an RPB-E (RPB compatible with an
enable switch) is used.
3. Enable switch inputs (LCKIN1, 2, 3, 4)
Enable switch inputs are used when making the interlock circuit to ensure the system including
the robot controller will operate safely. Refer to the connection examples in this chapter when
making actual connections.
Enable switch inputs are valid only when an RPB-E (RPB compatible with an enable switch) is
used.
1. SAFETY I/O interface overview
Chapter 7 SAFETY I/O INTERFACE
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