When Emergency Stop Is Input; When Alarm Is Issued - Yamaha DRCX User Manual

3-6-4 When emergency stop is input

EMG
Dedicated
command
BUSY
END
READY
■ The READY signal turns off. The BUSY signal also turns off while a dedicated command is
being executed. The END signal remains unchanged.
■ To enable robot operation, cancel emergency stop to turn on the READY signal, then input the
servo recovery command (SERVO).

3-6-5 When alarm is issued

Dedicated
command
BUSY
END
READY
■ The READY, BUSY and END signals all turn off.
■ Correct the problem while referring to "13-2 Alarm and Countermeasures".
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3-6 I/O Control Timing Charts
Emergency stop
5ms or less 1ms or less
Alarm
5ms or less 1ms or less
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