Yamaha RCX141, User Manual

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Parallel I/O interface
5
1. Standard I/O interface overview
In case (3)
Since the CPU has stopped, the alarm cannot be turned off and operation cannot be
reset unless the power supply is turned on again.
In case (4)
When a battery abnormality is detected, the alarm cannot turn off until the power
supply is turned on again.
If the alarm is still on even after the power has been turned on again, then the battery
connections must be checked or the battery replaced.
6. DO03b Alarm output: contact B (normally closed)
This is a complementary (inverted) logic output of the alarm (A contact) signal.
7. DO10 AUTO mode output
DO10 is always on when “AUTO” mode is selected.
8. DO11 Return-to-origin complete output
DO11 is always on when return-to-origin on all axes is complete. If this output is off,
return-to-origin must be performed.
9. DO12 Sequence program-in-progress output
DO12 is always on when the sequence program is being executed.
10.DO13 Robot program-in-progress output
DO13 is always on when the robot program is being executed in “AUTO” mode, or
when executed individually.
11.DO14 Program reset status output
DO14 is always on when the robot program is reset and turns off when the program
starts.