Yamaha RCX142, User Manual

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12
Parallel I/O interface
6
1. Standard I/O interface overview
1.8.2 Absolute reset
Conditions: MANUAL mode and servo ON
on
CPU_OK output: DO(01)a
off
on
Servo-ON output: DO(02)a
off
on
Return-to-origin complete
output: DO(11) off
on
Interlock input: DI(11)
off
on
Absolute reset input: DI(17)
off
Move
Robot axis status
Stop
a ) b ) c ) d ) e ) f ) g ) h ) i ) j ) k )
Absolute reset processing
a) Absolute reset input turns on.
b) Robot axis starts moving to origin position.
c) Absolute reset input turns off.
d) Robot axis reaches origin position and stops moving.
e) Return-to-origin complete output turns on.
Interlocks during absolute reset
f) Absolute reset input turns on and return-to-origin complete output turns off.
g) Robot axis starts moving to origin position.
h) Absolute reset input turns off.
i) Interlock input turns off.
j) On-going robot axis movement stops.
k) Interlock input turns on.
* When the return-to-origin complete output is on, absolute reset does not have to be
performed.
* Return-to-origin complete output is on until absolute reset is required.
* Absolute reset cannot be performed unless the servo is on.
* When the absolute reset input is on, the return-to-origin output is off.
* Return-to-origin complete output automatically turns on when the controller is turned
on, unless there are errors in the origin position information.