Safety Plug Input Signal - YASKAWA Motoman UP6 Instructions Manual

Terminal
DIN Direct-in 4
Used for the search function.
CN06 -7
-8
FORCE Forced reset, input
Do not use the "FORCE" (Forced release) input.
CN06 -9
If the "FORCE" input should be used for an unavoidable reason, be
-10
sure to use a switch with a key. The systems manager is responsible
for storage of the key.
When "FORCE" is input, all the deadman switches become invalid,
so handle with extreme care.
"

Safety Plug Input Signal

The manipulator must be surrounded by a safeguard and a door protected by an interlock
function. The door must be opened by the technician to enter and the interlock function stops
the robot operation when the door is open. The safety plug input signal is connected to the
interlock signal from the gate.
Abnormal à
Teach à
Operating à
Signal Tower
If the servo power is ON when the interlock signal is input, the servo power turns OFF. The
servo power cannot be turned ON while the interlock signal is input. However, the servo power
does not turn OFF when the door is opened only during the TEACH mode. In this case, the
servo power can be turned ON while the interlock signal is input.
Specific Input List (XIO01)
Input Name / Function
YASNAC
R
XRC
Y
Controller
G
Safety Plug
Taked Plug
Safeguard
Manipulator Working Area
Servo ON Lamp
Door
Emergency
Stop
Receptacle for Teaching
7-11
7.3 I/O Contactor Unit
Factory
Setting
Open
Open
Safeguard