6-4 when emergency stop is input, 6-5 when alarm is issued, I/o interf ace 3-6-4 when emergency stop is input – Yamaha SRCP User Manual

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I/O INTERF

ACE

3-6-4 When emergency stop is input

READY

END

BUSY

EMG

Emergency stop

5ms or less

1ms or less

Dedicated
command

■ 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

READY

END

BUSY

Alarm

Dedicated
command

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".

3-6 I/O Control Timing Charts