Yamaha RCX series, User Manual

Page: 66 / 84

5-6
Chapter
5
SPECIFICA
TIONS
Device No. Signal name Details
RYnF
[RCX141/221]
SI(17): Return-to-origin input
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.
[RCX142/222]
SI(17): Absolute reset input
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.
RY(n+1)0
SI(20) to SI(27): General-purpose input
Use ON/OFF of these general-purpose inputs for
referencing the SI port value and executing a WAIT
command.
to
RY(n+1)7
to to
RY(n+6)8
SI(150) to SI(157): General-purpose input to
RY(n+6)F
RY(n+7)8 Initial data process complete flag
Turns ON when power is turned ON, communication error
is reset, or data initialization is requested or completed.
Emergency stop input (RYn0) and interlock input (RYn9)
are turned ON when data is initialized.
n: Address assigned to master module with station No. setting
c
CAUTION
Step execution input (SI(03)) is only supported by the RCX221/222 series.
n
NOTE
Return-to-origin input and absolute reset input can also be executed in AUTO
mode by changing the execution level. Refer to the controller user's manual for
more details.
Remote registers (RWw)
Device No. Name Details
RWwn Dedicated SIW(0) Used as the remote command area.
RWw(n+1) Dedicated SIW(1) Used as the remote command’s command data area.
RWw(n+2)
General-purpose
SID(2)
General-purpose SIW(2)
Used to input word or double word data from SIW or SID
port.
Or, used as remote command’s command data area.
RWw(n+3) General-purpose SIW(3)
RWw(n+4)
General-purpose
SID(4)
General-purpose SIW(4)
RWw(n+5) General-purpose SIW(5)
RWw(n+6)
General-purpose
SID(6)
General-purpose SIW(6)
RWw(n+7) General-purpose SIW(7)
RWw(n+8)
General-purpose
SID(8)
General-purpose SIW(8)
RWw(n+9) General-purpose SIW(9)
RWw(n+10)
General-purpose
SID(10)
General-purpose SIW(10)
RWw(n+11) General-purpose SIW(11)
RWw(n+12)
General-purpose
SID(12)
General-purpose SIW(12)
RWw(n+13) General-purpose SIW(13)
RWw(n+14)
General-purpose
SID(14)
General-purpose SIW(14)
RWw(n+15) General-purpose SIW(15)
n: Address assigned to master module with station No. setting
2. Details of remote input/output signals