Yamaha RCX142 User Manual page 15

3. Ratings .....................................................................................6-22
4. Caution items ..........................................................................6-23
Chapter 7 SAFETY I/O interface
1. SAFETY I/O interface overview .................................................7-1
1.1
1.2
1.3
1.4
1.5
1.6
Chapter 8 RS-232C interface
1. Communication overview ..........................................................8-1
2. Communication function overview............................................8-2
3. Communication specifications ...................................................8-3
3.1
3.2
3.3
3.4
3.5
3.6
Chapter 9 Specifications
1. Controller basic specifications ...................................................9-1
1.1
1.2
2. Controller basic functions..........................................................9-3
3. Robot controller external view ..................................................9-4
3.1
3.2
4. MPB basic specifications and external view...............................9-6
Chapter 10 Troubleshooting
1. Error Messages .........................................................................10-1
1.1
2.7.1 General-purpose input signals ........................................................................ 6-20
2.7.2 General-purpose output signals ...................................................................... 6-20
2.7.3 General-purpose output signal reset (off) ......................................................... 6-21
Power ................................................................................................. 7-1
Connector I/O signals ......................................................................... 7-1
Connector terminal numbers ............................................................... 7-2
Emergency stop input signal connections ............................................ 7-3
1.4.1 RCX142 ............................................................................................................ 7-3
1.4.2 RCX142-T ......................................................................................................... 7-6
Dedicated input signal connections .................................................... 7-9
Input signal description ..................................................................... 7-10
Connector ........................................................................................... 8-3
Transmission mode and communication parameters ........................... 8-4
Communication flow control .............................................................. 8-5
3.3.1 Flow control during transmit ............................................................................. 8-5
3.3.2 Flow control during receive .............................................................................. 8-5
Other caution items ............................................................................ 8-6
Character code table ........................................................................... 8-8
Connecting to a PC ............................................................................. 8-9
RCX142 basic specifications ............................................................... 9-1
RCX142-T basic specifications ............................................................ 9-2
RCX142 external view ........................................................................ 9-4
RCX142-T external view ..................................................................... 9-5
Robot controller error messages ........................................................ 10-1
[ 0] Warnings and messages .......................................................................................... 10-3
[ 1] Warnings (error history entry) .................................................................................. 10-5
[ 2] Robot operating area errors ..................................................................................... 10-5
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