Omron R6YXC1000, User Manual, Page: 92 / 260

4
I/O interf
ace
4-10
6. DI15 Program reset input
DI15 is used to reset the program.
When DI15 is input in the program execution stop status, the robot program is then reset.
At this point, all general-purpose outputs and dynamic variables (refer to the YRCX programming manual for details) are
reset.
DO14 (Program reset status output) is output when the program is correctly reset.
7. DI16 Alarm reset input
DI16 is used to reset the alarm.
If an alarm occurs, remove the cause and execute this command to reset the alarm.
* Some alarms cannot be reset. In this case, shut down the control power and reset the alarm.
8. DI17 Return-to-origin (for ABS axis)
The operation may vary depending on the setting of the I/O parameter "DI17 mode".
1. When the "DI17 Mode" parameter is set to "ABS"
DI17 is used to perform return-to-origin dedicated to the absolute type axis.
When the DI17 contact is closed (ON), the axes will start returning to their origin positions at the signal, in the sequence
specified by the parameter.
When there is no absolute type axis, "6.310: ABS. motor disconnected" alarm occurs. DI17 is intended only for the axis
with the return-to-origin method set at "SENSOR" or "TORQUE" (stroke end). Absolute reset cannot be performed when
return-to-origin is incomplete on axes whose return-to-origin method is set to "MARK".
2. When the "DI17 Mode" parameter is set to "ABS/ORG"
DI17 is used to perform return-to-origin commonly for the absolute type axis and incremental type axis.
1) Absolute type axis
For details about operation, refer to "1. When the 'DI17 Mode' parameter is set to 'ABS'" described above.
2) Incremental type axis
For details about operation, refer to "5. DI14 Return-to-origin (for INC axis)" described eralier in this section.
When the absolute type axis and incremental type axis are mixed, return-to-origin for the absolute type axis precedes for
the incremental type axis.
CAUTION
In most cases, do not use this setting. Use this setting only when the return-to-origin signal must be input to DI17.
NOTE
The return-to-origin (for INC axis) and return-to-origin (for ABS axis) inputs do not execute the absolute reset for
the axis with the mark method.
CAUTION
DI01, DI12, DI14, DI15, DI16 and DI17 inputs are invalid while the program is being executed. Input these signals
only after the program is halted.
1.10 Dedicated output signal description
1. DO01 CPU_OK
This is always on during normal controller operation. In the following cases this output turns off.
• Serious malfunction has occurred.
• When the power supply voltage has dropped to lower than the specified value.
If this signal is once turned off, turn the power supply on again.
2. DO02 Servo ON output
This output turns on when all the axes of the robot are in the servo on status.