Yamaha RCX series, User Manual

Page: 65 / 84

5-5
Chapter
5
SPECIFICA
TIONS
Remote output (RY)
Device No. Signal name Details
RYn0 SI(00): Emergency stop input
Turn OFF to trigger emergency stop on controller.Keep
turned ON during normal operation.
RYn1 SI(01): Servo ON input
Turn ON to cancel emergency stop and turn ON the robot
servo motor.
Servo-ON is executed when this input is switched from
OFF to ON.
Emergency stop input [SI(00)] (RYn0) must be ON and
emergency stop conditions in the robot controller
(emergency stop terminal of SAFETY connector, etc.)
must be canceled.
RYn2 SI(02): Service mode input
Turn OFF to enter the controller in service mode. Keep
turned ON during normal operation.
(Effective only when SAFE mode is enabled.)
(In SAFE mode enabled, dedicated input might be
disabled depending on service mode parameter setting.)
RYn3 SI(03): Step execution input
Turn ON to execute a step in the program during AUTO
mode.
One line of the program is executed when this input is
changed from OFF to ON.
RYn5 SI(05): IO command execution trigger input
Turn from OFF to ON to execute IO command.
Always turn ON after IO command is set to general-
purpose input.
RYn8 SI(10): Sequence control input
Turn ON to execute sequence program in the robot
controller.
Sequence program is executed when this input is ON.
RYn9 SI(11): Interlock input
Turn OFF to stop execution of robot program.
Keep tuned ON to continue program execution.
RYnA SI(12): Robot program start input
Turn ON to execute robot program.
Robot program is executed when this input is switched
from OFF to ON.
Robot controller must be in AUTO mode.
RYnB SI(13): AUTO mode input
Turn ON to select AUTO mode.
Robot program enters AUTO mode when this input is
switched from OFF to ON.
RYnC
[RCX141/221]
SI(14): Absolute reset input
* For YC-Link where RCX141/221 is used with
SR1-X
Turn ON to perform absolute reset of robot.
Absolute reset is performed when this input is switched
from OFF to ON, except for axes that use mark method
for return-to-origin. Absolute reset cannot be performed
by dedicated input if return-to-origin is incomplete on
axes that use mark method.
Robot controller mode must be in MANUAL mode.
[RCX142/222]
SI(14): Return-to-origin input
* For YC-Link where RCX142/222 is used with
SR1-P
Turn ON to perform return-to-origin on incremental mode
axes or semi-absolute mode axes.
When this input is switched from OFF to ON, return-to-
origin is performed on incremental mode axes or absolute
search is performed on semi-absolute mode axes.
Robot controller mode must be in MANUAL mode.
RYnD SI(15): Program reset input
Turn ON to reset robot program.
Program reset is executed when this input is switched
from OFF to ON.
Robot controller must be in AUTO mode.
RYnE SI(16): MANUAL mode input
Turn ON to select MANUAL mode.
Robot program enters MANUAL mode when this input is
switched from OFF to ON.
(continued to next page) n: Address assigned to master module with station No. setting
2. Details of remote input/output signals