Yamaha RCX142, User Manual

Page: 344 / 450

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8
Parallel I/O interface
6
1. Standard I/O interface overview
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 Absolute reset input
DI17 is used to perform absolute reset.
This input is only valid when using an absolute motor.
When the DI17 contact is closed (ON) in “MANUAL” mode, absolute reset will then
start at the rising edge of the signal pulse.
Absolute reset can only be performed on axes using the stroke-end or sensor method
for return-to-origin.
Absolute reset is not performed on axes which use the mark method for return-to-
origin. Absolute reset cannot be performed by dedicated input when return-to-origin is
incomplete.
• Input signal pulse width: 100ms minimum
n
NOTE
The absolute reset input will not work
on axes using the mark method for
return-to-origin.
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.