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■ Turning the power on (while emergency stop input is off)
Control power
Emergency stop
DI00
(in SAFETY
ready signal
connector)
DO00
Emergency stop
contact monitor
MPRDY
Main power ON
(in SAFETY
ready
connector)
Main power
DO01
CPU OK
DO02
Servo-on state
Alarm
DO03
• DO00 (Emergency stop contact monitor) and DO03 (Alarm) turn on after the
control power supply turns on. MPRDY (Main power ON ready) output remains off.
The robot starts with the servo turned off.
n
NOTE
• It takes about 3 seconds until CPU OK is output after turning on the
control power supply
• The main power supply can be left on during operation.
1. Standard I/O interface over view
Approx. 3 sec.
Chapter
5
5-17
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