Yamaha RCX142 User Manual page 370

1. SAFETY I/O interface overview
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8
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2. When the service key switch contact is open:
The enable switch is operable at this point.
a. In normal operation, EMG 24V is connected to EMG RDY via the MPB-E2 emer-
gency stop switch, enable switch and SAFETY connector, and the controller checks
that emergency stop is released.
b. When emergency stop is triggered, power to EMG RDY of the SAFETY connector
is cut off and the controller detects the emergency stop and halts the robot. Emer-
gency stop is triggered if the MPB-E2 and SAFETY connector are removed.
• Pins 13 and 14, pins 15 and 16, pins 17 and 18, and pins 19 and 20 on the MPB
connector are shorted in the MPB terminator that comes with the robot controller.
• Pin 3 is shorted to pin 13, and pin 4 is shorted to pin 14 in the SAFETY connector that
comes with the robot controller.