Connector I/O Signals - Yamaha RCX240 User Manual

1. SAFETY I/O interface overview
1.2

Connector I/O signals

1
PIN
1 DI02
2 MP READY
3 E-STOPIN1
2
4 E-STOPIN2
5 E-STOPIN3
6 E-STOPIN4
7 LCKIN1
8 LCKIN2
3
9 LCKIN3
10 LCKIN4
11 P.COM
4
12 N.COM
13 E-STOP24V
14 E-STOPRDY
5
15 Reserved
c
CAUTION
• on the sAfetY connector supplied with the controller, pin 3 is shorted to pin 13,
6
• do not connect an external dc 24v to e-stop24v.
• npn and pnp specifications are each defined in " 7. i/o connections" in chapter 3.
• do not connect any external signals to the reserved terminals.
• when using di02 and Mp reAdY, supply power to the dc24v and gnd terminals
7
• Maximum output current for Mp reAdY is 100mA.
8
9
10
7-2
Chapter 7 SAFETY I/O INTERFACE
I/O No.
SERVICE mode
Motor power ready
Emergency stop input 1
Emergency stop input 2
Emergency stop input 3
Emergency stop input 4
Enable switch input 1
Enable switch input 2
Enable switch input 3
Enable switch input 4
DC+24V output
GND
Emergency stop input power
Emergency stop READY
signal
Do not use.
and pin 4 is shorted to pin 14. Use these pins to make an interlock circuit to
ensure the system including the robot controller operates safely.
of STD.DIO.
Name
(N.COMDI)
Remarks
NPN/PNP specs conform to
STD. DIO settings.
Common terminal: P. COM / N. COM
Usable only when enable switch
compatible programming box is
used. (RPB-E)
Outputs P.COMDI input of STD.
DIO.
Connected to N.COMDI terminal
of STD.DIO via diode.