Yamaha RCX240 User Manual page 487

Operation description:
• The RPB emergency stop switch and external emergency stop switch are connected in
series.
a. In normal operation, E-STOP24V is connected to E-STOPRDY via the RPB emergency
stop switch and SAFETY connector, and turns on the controller internal motor power
relay.
b. When emergency stop is triggered, power to E-STOPRDY of the SAFETY connector is
cut off and the motor power supply turns off. Emergency stop is triggered if the RPB and
SAFETY connector are removed.
• Pins 13 and 14 on the RPB connector are shorted in the RPB terminator that comes with the
robot controller.
• Pin 3 is shorted to pin 13, and pin 4 is shorted to pin 14 in the SAFETY connector that
comes with the robot controller.
c
CAUTION
• e-stoprdY requires at least 100mA for the relay and photocoupler drive current.
• do not use e-stop24v for anything other than emergency stop.
1. SAFETY I/O interface overview
Chapter 7 SAFETY I/O INTERFACE
1
2
3
4
5
6
7
8
9
10
7-5