Yamaha RCX141, User Manual

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12.4.1 Initializing the parameters ............................................................................. 4-207
12.4.2 Initializing the memory ................................................................................. 4-208
12.4.3 Initializing the communication parameters ................................................... 4-209
12.4.4 Clock setting ................................................................................................. 4-210
12.4.5 System generation ......................................................................................... 4-211
12.5 Self diagnosis .................................................................................. 4-212
12.5.1 Controller check ........................................................................................... 4-212
12.5.2 Error history display ...................................................................................... 4-213
12.5.3 Displaying the total operation time ............................................................... 4-214
12.5.4 System error details display ........................................................................... 4-214
12.6 Backup processes ............................................................................ 4-215
12.6.1 Internal flash ROM ....................................................................................... 4-215
12.6.1.1 Loading files .................................................................................................. 4-216
12.6.1.2 Saving files .................................................................................................... 4-217
12.6.1.3 Initializing the files ........................................................................................ 4-217
13. “MONITOR” mode ...............................................................4-218
14. “UTILITY” mode ....................................................................4-221
14.1 Canceling emergency stop; Motor power and servo on/off .............. 4-222
14.1.1 Canceling emergency stop ............................................................................ 4-222
14.1.2 Motor power and servo on/off ....................................................................... 4-223
14.2 Enabling/disabling the sequence execution flag .............................. 4-224
14.3 Changing the arm type .................................................................... 4-225
14.4 Resetting the output ports ................................................................ 4-226
14.5 Changing the execution level .......................................................... 4-227
14.5.1 Changing the execution level ........................................................................ 4-228
14.5.2 Displaying the Help message ........................................................................ 4-229
14.6 Changing the access level (operation level) ..................................... 4-230
14.6.1 Entering the password ................................................................................... 4-230
14.6.2 Changing the access level ............................................................................. 4-231
14.6.3 Displaying the Help message ........................................................................ 4-231
Chapter 5 Parallel I/O interface
1. Standard I/O interface overview ...............................................5-1
1.1 Power supply ...................................................................................... 5-1
1.2 Connector I/O signals ......................................................................... 5-2
1.3 Connector pin numbers ...................................................................... 5-3
1.4 Typical input signal connection .......................................................... 5-4
1.5 Typical output signal connection ........................................................ 5-5
1.5.1 Dedicated outputs ............................................................................................ 5-5
1.5.2 General-purpose outputs .................................................................................. 5-6
1.6 Dedicated input signal description ...................................................... 5-7
1.7 Dedicated output signal description .................................................... 5-9
1.8 Dedicated I/O signal timing chart ..................................................... 5-11
1.8.1 Controller power ON, servo ON and emergency stop ..................................... 5-11
1.8.2 Return-to-origin .............................................................................................. 5-12
1.8.3 Switching to AUTO mode, program reset and execution ................................. 5-13
1.8.4 Stopping due to program interlocks ................................................................ 5-14
1.9 General-purpose I/O signals .............................................................. 5-15
1.9.1 General-purpose input signals ........................................................................ 5-15
1.9.2 General-purpose output signals ...................................................................... 5-15
1.9.3 General-purpose output signal reset (off) ......................................................... 5-15
2. Option I/O interface overview ................................................5-16
2.1 ID settings ......................................................................................... 5-17