Omron R6YXC1000, User Manual, Page: 94 / 260

4
I/O interf
ace
4-12
1.11 Dedicated I/O signal timing chart
1.11.1 From the controller power on to servo on
■
From the controller power on to servo on
CPU_OK
DO01
Control power
Servo ON output
DO02
Alarm output
DO03
Emergency stop
Alarm reset input
DI16
MP RDY*
(SAFETY connector)
Main power
on
off
on
off
a) b) b’) c) d) e) f)
Approx. 3 sec.
*For details on MP RDY signal, refer to Chapter 5, "SAFETY I/O interface".
Servo ON input
DI01
Conditions: AUTO mode
on
off
on
off
on
off
on
off
on
off
CAUTION
It will take about 3 seconds until the CPU_OK output status is confirmed after the power is turned on.
Initial servo on process after turning the power on
a) Control power turns on.
b) MP RDY output turns on. (Main power turns on after MP RDY output turns on.)
b') CPU_OK output turns on.
c) Emergency stop input turns on.
d) Servo ON input turns on.
e) Servo ON output turns on.
f) Servo ON input turns off after checking that servo ON output turns on.
* When processing with dedicated inputs, use I/O signals to perform handshake processing. If handshake processing is
impossible, input a signal for 100 ms or more.
* An external circuit shall be constructed so that main power is supplied when MP RDY turns on.