YASKAWA MOTOMAN YRC1000 - Page 413

Description of Units and Circuit Boards
15 - 413
Signal name Connec-
tion no.:
Dual in-
put
Function Factory setting
SAFF_1+
SAFF_1-
SAFF_2+
SAFF_2-
1
2
3
4
Applicable Safety plug Short-circuit
with a jumper
cable
Used to turn OFF the SER-
VO power if the door on the
safeguarding is opened.
Connect to the interlock sig-
nal from the safety plug on
the safeguarding door.
If the interlock signal is
OPEN, the SERVO power
turns OFF. While the signal
is turned ON.
The SERVO power cannot
be turned ON. Note that
these signals are disabled in
TEACH mode.
EXESP_1+
EXESP_1-
EXESP_2+
EXESP_2-
5
6
7
8
Applicable External emergency stop Short-circuit
with a jumper
cable
Used to connect the emer-
gency stop switch of an ex-
ternal device.
If the contact is OPEN, the
servo power is turned OFF
and the JOB is stopped.
While the signal is input, the
SERVO power cannot be
turned ON.
OT2_1+
OT2_1-
OT2_2+
OT2_2-
9
10
11
12
Applicable External axes overrun Open
Used to input the overrun in
the external axes other than
the main body of the robot.
If the contact is OPEN, the
servo power is turned OFF
and the JOB is stopped.OT3_1+
OT3_1-
OT3_2+
OT3_2-
13
14
15
16
OT4_1+
OT4_1-
OT4_2+
OT4_2-
17
18
19
20