Dedicated I/O Signal Timing Charts; Turning The Power On - Yamaha RCX222 User Manual

1. Standard I/O interface over view
1.9

Dedicated I/O signal timing charts

1.9.1 Turning the power on

■ Turning the power on (while emergency stop input is on)
DI00
(in SAFETY
connector)
Chapter
DO00
5
MPRDY
(in SAFETY
connector)
DO01
DO02
DO03
• MPRDY (Main power ON ready) turns on after the control power supply turns on.
Then turn on the main power to the external device.
• After DO01 (CPU OK) turns on, the robot servo turns on and then DO02 (Servo-on
state) turns on. However, if serial IO setting or "SAFE" mode is enabled, the robot
starts with the servo turned off.
5-16
Control power
Emergency stop
ready signal
Emergency stop
contact monitor
Main power ON
ready
Main power
CPU OK
Servo-on state
Alarm
Approx. 3 sec.