Epson VT Series, Manipulator Manual

Page: 123 / 274

Setup & Operation 14. I/O Remote Settings
VT Rev.1 107
14.2 Timing Specifications
14.2.1 Precautions for Remote Input Signals
The following charts indicate the timing sequences for the primary operations of the
Controller.
The indicated time lapses (time durations) should be referred to only as reference values
since the actual timing values vary depending on the number of tasks running, as well as
CPU speed of the Manipulator. Check carefully and refer to the following charts for the
timing interrelation when you enter an input signal.
During system design, make sure that you actuate only one remote input operation at a
time, otherwise an error will occur.
The pulse width of an input signal must be 25 or more milliseconds to be detected.
[Unit: ms]
14.2.2 Timing Diagram for Operation Execution Sequence
940
1250
Depending on
HOME motion
MotorsOn
Output
AtHome
Output
SetMotorsOn
Input
SetMotorsOff
Input
Home
Input
14.2.3 Timing Diagram for Program Execution Sequence
34
34
34
110
110
34
34
410
Ready
Output
CurrProg1
Output
Running
Output
* Paused
Output
SelProg1
Input
Start
Input
Pause
Input
Continue
Input
Stop
Input
410
*
The duration varies depending on the Quick Pause (QP) setting and the program’s
operating status at the time of Pause input