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1.7
Input signal description
c
CAUTION
See "7. I/O connections" in Chapter 3 for a defi nition of NPN and PNP
specifi cations.
n
NOTE
• NPN and PNP specifi cations are determined by the DI.COM and
DO.COM inputs.
• A 7mA input current is required.
1. DI02
Ser vice mode input (SERVICE: DI02)
Service mode input can only be used on robot controllers with "SAFE" mode enabled.
When the DI02 contact is open (OFF), the robot controller service mode is set for
exclusive control for operating levels, operating speed limits and operating devices
conforming to the service mode parameter settings. Normal mode is enabled when
the DI02 contacts are closed (ON).
If a serial I/O option board is installed, "SERVICE" mode is entered when either one
of the SI02 or DI02 contact is open (OFF). (Normal mode is entered only when both
SI02 and DI02 contacts are closed (ON).)
If the service mode input is changed, the program being executed will pause or
ongoing robot jog movement will pause.
2. DI11
Interlock input (INTERLOCK: DI11)
Interlock input is used to temporarily stop robot movement during execution of a
program or manual operation of a robot. When the DI11 contact is opened (OFF), the
message "Interlock on" appears and the program and robot operation then stop. The
program cannot be executed and robot manual operation is disabled when the DI11
contact is open.
3. DI00
Emergency stop inputs (E-STOP24V, E-STOPRDY: DI00, E-STOPIN1, 2, 3, 4)
Emergency stop signal inputs are used when making the interlock circuit to ensure
the system including the robot controller will operate safely. Contacts must be closed
for the system to function normally. Refer to the connection examples in this chapter
when making actual connections.
Closing the emergency stop contact points (ON) allows turning on the servo power
supply. The servo power supply cannot be turned on when the emergency stop
contact points are open (OFF).
Emergency stop signal inputs 3 and 4 are valid only when an RPB-E (RPB compatible
with an enable switch) is used.
1. SAFETY I/O interface over view
Chapter
6
6-13
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