Input Signal Description - Yamaha RCX142 User Manual

1. SAFETY I/O interface overview
c
CAUTION
See "7. I/O connections" in Chapter
3 for a definition of NPN and PNP
specifications.
n
NOTE
• NPN and PNP specifications are
determined by the STD. DIO
setting.
• Robot controllers with SAFE mode
enabled will always be in service
mode when an external 24V is not
supplied to STD. DIO. This can be
cancelled using a software
parameter.
• A 10mA input current is required.
7
10
7-
1.6

Input signal description

1. DI02 SERVICE mode input
Service mode input can only be used on robot controllers with SAFE mode enabled.
When the DI02 contact is open (OFF), the robot controller service mode is set for
exclusive control for operating levels, operating speed limits and operating devices
conforming to the service mode parameter settings. Normal mode is enabled when the
DI02 contacts are closed (ON). When a serial I/O option board is installed, the service
mode is controlled by a logic AND circuit comprised of SI02 and DI02.
If the service mode input is changed, the program being executed will pause or ongo-
ing robot jog movement will pause.
2. DI00 Emergency stop inputs 1, 2, 3, 4
Emergency stop signal inputs are used when making the interlock circuit to ensure the
system including the robot controller will operate safely. Contacts must be closed for
the system to function normally. Refer to the connection examples in this chapter
when making actual connections.
Closing the emergency stop contact points (ON) allows turning on the servo power
supply. The servo power supply cannot be turned on when the emergency stop contact
points are open (OFF).
Emergency stop signal inputs 3 and 4 are valid only when an MPB-E2 (MPB compat-
ible with an enable switch) is used.
3. Enable switch inputs 1, 2, 3, 4
Enable switch inputs are used when making the interlock circuit to ensure the system
including the robot controller will operate safely. Refer to the connection examples in
this chapter when making actual connections.
Enable switch inputs are valid only when an MPB-E2 (MPB compatible with an en-
able switch) is used.