Connector I/O Signals - Yamaha RCX222 User Manual

1. SAFETY I/O interface over view
1.2

Connector I/O signals

PIN I/O symbol
1 DI.COM
2 INTERLOCK (DI11)
3 SERVICE (DI02)
4 DO.COM
5 MPRDY
6 SERVO OUT
7 NC
8 KEY1
9 KEY2
Chapter
10 24VGND
6
11 E-STOP24V
12 E-STOPRDY (DI00)
13 E-STOPIN1
14 E-STOPIN2
15 E-STOPIN3
16 E-STOPIN4
17 LCKIN1
18 LCKIN2
19 LCKIN3
20 LCKIN4
c
CAUTION
• On the SAFETY connector that comes with the controller, pin 1 is shorted
• Do not connect an external DC24V to E-STOP24V.
• See "7. I/O connections" in Chapter 3 for a defi nition of NPN and PNP
• Do not connect any external signal to the NC terminals.
6-2
Dedicated input common
Interlock input
SERVICE mode input
Dedicated output common
Main power supply ready
Servo-on state output
No connection
RPB key switch contact
RPB key switch contact
E-STOP24V, GND
Power supply for emergency
stop input
Emergency stop ready signal
Emergency stop input 1
Emergency stop input 2
Emergency stop input 3
Emergency stop input 4
Enable switch input 1
Enable switch input 2
Enable switch input 3
Enable switch input 4
to pin 10, pins 2, 3, 11 and 14 are shorted together, and pin 12 is shorted
to pin 13. Use these pins to make an interlock circuit to ensure the system
including the robot controller operates safely.
specifi cations.
Name
Photocoupler input DC24V, 7mA
Photocoupler input DC24V, 7mA
Mechanical relay contact output
DC24V, 1A
Photo-MOS relay output DC24V,
100mA
Remarks