Yamaha RCX141, User Manual

Page: 300 / 402

5-
8
Parallel I/O interface
5
1. Standard I/O interface overview
6. DI13 AUTO mode input
DI13 is used to switch to “AUTO” mode.
When the DI13 contact is closed (ON), operation switches to “AUTO” mode at the
rising edge of the signal pulse.
• Input signal pulse width: 100ms minimum
7. DI15 Program reset input
DI15 is used to reset the program.
When a signal is input to DI15 while the program is stopped in “AUTO” mode, the
robot program is reset. At this point, all general-purpose outputs and variables are
cleared. However, the general-purpose outputs are not cleared when a sequence program
is being executed without enabling the DO to reset in the sequence execution flag
setting.
DO14 (program reset status) is output when the program is correctly reset.
• Input signal pulse width: 100ms minimum
8. DI16 MANUAL mode input
DI16 is used to switch to “MANUAL” mode.
• Input signal pulse width: 100ms minimum
9. DI17 Return-to-origin input
DI17 is used to perform return-to-origin.
When the DI17 contact is closed (ON) in “MANUAL” mode, return-to-origin or
absolute search starts at the rising edge of the signal pulse.
• Input signal pulse width: 100ms minimum
c
CAUTION
DI01, DI12, DI13, DI15, DI16 and
DI17 are inoperative while the
program is being executed. Input
these signals only after the program
is halted.
c
CAUTION
Signal input to DI14 is prohibited. Do
not connect any signal to DI14.
n
NOTE
This command cannot be executed if
the return-to-origin method of an
incremental mode axis or semi-
absolute mode axis is set to "Mark".