Omron YRC - Page 6

C ONTENTS
YRCX
User’s Manual
T-4
1.6 Connector pin numbers 4-7
1.7 Typical input signal connection 4-7
1.8 Typical output signal connection 4-8
1.9 Dedicated input signal description 4-9
1.10 Dedicated output signal description 4-10
1.11 Dedicated I/O signal timing chart 4-12
1.11.1 From the controller power on to servo on 4-12
1.11.2 Controller emergency stop and servo on reset 4-13
1.11.3 Return-to-origin 4-14
1.11.4 Program reset and program execution 4-15
1.11.5 Stopping by program stop 4-16
1.12 General-purpose I/O signals 4-17
1.12.1 General-purpose input signals 4-17
1.12.2 General-purpose output signals 4-17
1.12.3 General-purpose output signal reset (off) 4-17
2. Ratings 4-18
2.1 Input 4-18
2.2 Output 4-18
3. Caution items 4-18
Chapter 5 SAFETY I/O interface
1. SAFETY I/O interface overview 5-1
1.1 Power 5-1
1.2 Connector I/O signals 5-1
1.3 Connectionexamplecombiningtheprogrammingboxwith
external emergency stop circuit 5-2
1.3.1 ConnectionexampleofcontrollerwithCEspecicationsandPBEX 5-2
1.4 Connections example of dedicated input signal 5-3
1.4.1 Emergencystopinputs(E-STOPRDY*,E-STOPCOM*) 5-3
1.4.2 AUTOmodeinputs(AUTO*+,AUTOCOM*) 5-3
1.5 Connection example of dedicated output signal 5-4
1.5.1 Emergencystopcontactoutputs(E-STOP*1,E-STOP*2) 5-4
1.5.2 Enableswitchcontactoutputs(ENABLE*1,ENABLE*2) 5-4
1.5.3 Motorpowerreadyoutputs(MPRDY*+,MPRDY*-) 5-5
Chapter 6 External communication interface
1. Overview 6-1
1.1 Communicationoverview 6-1
1.2 ONLINE and OFFLINE modes 6-2
1.3 Character code 6-3