Yamaha RCX141, User Manual

Page: 305 / 402

5-
13
5
Parallel I/O interface
1. Standard I/O interface overview
1.8.3 Switching to AUTO mode, program reset and execution
on
AUTO mode output: DO(10)
off
on
Return-to-origin complete
output: DO(11) off
on
Robot program-in-progress
output: DO(13) off
on
Program reset status
output: DO(14) off
on
Interlock input: DI(11)
off
on
Program start input: DI(12)
off
on
AUTO mode input: DI(13)
off
on
Program reset input: DI(15)
off
a ) b ) c ) d ) e ) f ) g ) h ) i )
100ms or more 100ms or more
Switching to AUTO mode
a) AUTO mode input turns on.
b) AUTO mode output turns on.
c) AUTO mode input turns off after checking AUTO mode output is turned on.
Program reset
d) Program reset input turns on.
e) Program reset status output turns on.
f) Program reset input turns off after checking program reset status output is turned on.
Program execution
g) Program start input turns on.
h) Program reset status input turns off, and robot program-in-progress output turns on.
i) Program start input turns off after checking robot program-in-progress output is turned
on.
* Program cannot be executed when the emergency stop input and interlock input are
off.
* If the return-to-origin complete output is off, the program might not be executed,
depending on the execution level setting.