Yamaha RCX240, User Manual

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Chapter 4 OPERATION
12. "SYSTEM" mode
Chapter 4 OPERATION
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on
off
on
off
on
off
Move
Stop
Individual axis
return-to-origin complete
DO22
Interlock
DI11
on
off
Axis selection (m3-axis)
DI22
Return-to-origin
DI14
Robot axis status
*1
*2
a) b) c) d) e) f) g) h) i) j) k) l) m) n) o)
m3-axis return-to-origin processing
Normal operation
a) Axis selection input turns on.
b) Return-to-origin input turns on.
c) Robot m3-axis starts moving to its origin position.
d) Return-to-origin input turns off.
e) Axis selection input turns off.
f) Robot m3-axis completes the movement to its origin position.
g) Individual axis return-to-origin complete output turns on.
Stop operation during movement
h) Axis selection input turns on.
i) Return-to-origin input turns on.
j) Robot m3-axis starts moving to its origin position.
k) Return-to-origin input turns off.
l) Axis selection input turns off.
m) Interlock input turns off.
n) Robot m3-axis stops moving during movement.
o) Interlock input turns on.
*1 Origin-to-return input DI14 is kept turned on for 100 ms or more.
*2 After the axis selection input has been kept turned on for 30 ms or more, the return-to-
origin input DI14 is turned on.