Yamaha SRCP manual When emergency stop is input, When alarm is issued

3-6 I/O Control Timing Charts

3-6-4 When emergency stop is input

Emergency stop

EMG

Dedicated command

BUSY

END

READY

5ms or less 1ms or less

■The READY signal turns off. The BUSY signal also turns off while a dedicated command is being executed. The END signal remains unchanged.

■To enable robot operation, cancel emergency stop to turn on the READY signal, then input the servo recovery command (SERVO).

3-6-5 When alarm is issued

Alarm

Dedicated command

BUSY

END

READY

5ms or less 1ms or less

■The READY, BUSY and END signals all turn off.

■Correct the problem while referring to "13-2 Alarm and Countermeasures".

3

I/O INTERFACE

3-19