Yamaha RCX142 User Manual page 366

1. SAFETY I/O interface overview
c
CAUTION
External emergency stop and the
MPB emergency stop button are
disabled when pin 13 and pin 14 are
directly shorted to each other on the
SAFETY connector. Make connec-
tions to ensure the system including
the robot controller will always
operate safely.
7
c
CAUTION
• EMG RDY requires at least
100mA for the relay and
photocoupler drive current.
• Do not use EMG 24V for
anything other than emergency
stop.
4
7-
Connections using the MPB-E2 (MPB compatible with an enable switch) with
external emergency stop circuit (PNP specifications)
2 4 V
G N D
Motor power
supply circuit
Operation description:
• The MPB-E2 emergency stop switch and external emergency stop switch are con-
nected in series. The enable switch is also connected in series to the MPB-E2 emer-
gency stop switch, but can be bypassed with the service key switch.
1. When the service key switch contact is close:
The enable switch is inoperable at this point.
a. In normal operation, EMG 24V is connected to EMG RDY via the MPB-E2 emer-
gency stop switch and SAFETY connector, and turns on the controller internal mo-
tor power relay.
b. When emergency stop is triggered, power to EMG RDY of the SAFETY connector
is cut off and the motor power supply turns off. Emergency stop is triggered if the
MPB-E2 and SAFETY connector are removed.
MPB connector
13
14
15
16
17
18
1 9
20
SAFETY
connector
3 EMGIN1
4
EMGIN2
5 EMGIN3
6 EMGIN4
7 LCKIN1
8 LCKIN2
9
LCKIN3
10 LCKIN4
13 EMG24V
14 EMGRDY
1 DI02
1 1 P.COM
Motor power
relay coil
G N D
AC 200V power supply
Emergency Enable
stop switch switch
MPB-E2
Service key
switch
Emergency
stop switch
External emergency stop circuit