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3.2
Circuit examples for the YRC
The following shows category-specific safety circuit configuration examples for the YRC.
Customers should install the appropriate safety measures for their system by referring to these safety circuit
configuration examples in order to use the robots more safely.
The example shown here provide the following input/output signals.
Input
Reset switch, maintenance mode switch, door switch, and external emergency stop
Output
Programming box emergency stop output and enable output
CAUTION
The controller status output signals of the parallel I/O and serial I/O, such as alarm signals, should be monitored by the host device.
Overall connection diagram (with enable switch)
L1
AC IN
N1
Reset
Maintenance
Door
External
emergency stop
OUT
Safety output
Wiring to check whether controller
is normal when using alarm to shut
off main power
Wiring to check whether controller is
normal when not using alarm to shut
off main power
+24V
+24V
GND
GND
L1
Safety circuit
N1
L
AC OUT
N
SAFETY
KA1
+24V
STD.DIO
KA1
GND
To PLC
Controller
(PNP speci cations)
3
13
4
14
5
15
6
16
7
17
8
18
9
19
10
20
1
SERVICE(DI02)
P.COMDI
+5V
11
P.COM
2
MPRDY
MPRDY
12
N.COM
Status
N.COMDI
13
E-STOP24V
Internal+24V
14
E-STOPRDY
E-STOP
Status
+24V_GND
GND
27
COMMON
29
CPU_OK (contact A (normally open))
47
48
P.COMDI
49
50
N.COMDI
Input/output signals
PB
Emergency stop
Enable
PB
2-15
2
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