YASKAWA MOTOMAN YRC1000 - Page 62

Turning ON and OFF the power supply
6 - 62
Besides the safety signals, there are three stop categories to stop the robot:
• Stop category 0
The immediate disconnection of power to the SERVO motor triggers the stop. After the
power is disconnected, the brake is released causing the robot and the external axis to
decelerate until they finally stop. The robot and the external axis may run off the
programmed path.
• Stop category 1
The robot and the external axis are decelerated in a controlled manner on the
programmed path until they finally stop.
After the stop, the robot and the external axis are locked by the brake and power is
disconnected from the SERVO motor.
• Stop category 2
The robot and the external axis are decelerated in a controlled manner on the
programmed path until they finally stop.
After the stop the SERVO motor is still connected to power. Brakes do not tighten.
Stop category
Safety Signal Mode Operation mode
Stop cate-
gory 0
Stop cate-
gory 1
Stop Cate-
gory 2
Controller emergency
stop (PBESP)
TEACH Valid 
PLAY Valid 
External emergency
stop (EXESP)
TEACH Valid 
PLAY Valid 
Programing pendant
emergency stop
(PPESP)
TEACH Valid 
PLAY Valid

Safeguarding (safety
plug) (SAFF)
TEACH Invalid - - -
PLAY Valid 
Programing pendant en-
able SW (PPDSW)
TEACH Valid 
PLAY Invalid - - -
SERVO power enable
(ONEN)
TEACH Valid 
PLAY Valid 
Robot OVERRUN (OT) TEACH Valid 
PLAY Valid 
External axis OVER-
RUN (EXOT)
TEACH Valid 
PLAY Valid 
Programing pendant
(HOLD)
TEACH Valid 
PLAY Valid 
Mode Switch
(TEACH mode to PLAY mode)
(PP KEY SW)

Mode Switch
(PLAY mode to TEACH mode)
(PP KEY SW)
