Yamaha RCX141, User Manual

Page: 303 / 402

5-
11
5
Parallel I/O interface
1. Standard I/O interface overview
1.8 Dedicated I/O signal timing chart
1.8.1 Controller power ON, servo ON and emergency stop
on
CPU_OK output: DO(01)a
off
on
Servo-ON output: DO(02)a
off
on
Alarm output: DO(03)a
off
on
Emergency stop input
off
on
Servo ON input: DI(01)
off
a ) b ) c ) d ) e ) f ) g ) h ) i )
Initial servo-on processing when power is turned on.
a) CPU_OK output turns on.
b) When not in emergency stop, servo-ON output turns on after servo-ON processing.
Shifting to emergency stop
c) Emergency stop input turns off.
d) Alarm output turns on and servo-ON output turns off.
Shifting from emergency stop to servo-ON
e) Emergency stop input turns on.
f) Servo-ON input turns on.
g) Alarm output turns off.
h) Servo-ON output turns on.
i) Servo-ON input turns off after checking for servo-ON output.
* If the emergency stop input contacts are open or a major error (malfunction) occurs
when the controller power is turned on, the servo remains off. Likewise, if SAFE
mode or serial I/O setting is enabled, the controller starts up with the servo turned off.
* When processing with dedicated inputs, use I/O signals to perform handshake
processing. If handshake processing is impossible, hold the signal for a minimum of
100ms.
c
CAUTION
It will take about 3 seconds for the
controller to issue the CPU_OK
output after the power is turned on.