Yamaha RCX240, User Manual

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Chapter 6 PARALLEL I/O INTERFACE
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Chapter 6 PARALLEL I/O INTERFACE
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1.8.2 Return-to-origin
Conditions: MANUAL mode and servo ON
on
off
on
off
on
off
on
off
on
off
Move
Stop
a) b) c) d) e) f) g) h) i)
CPU_OK
DO01a
Servo ON output
DO02a
Return-to-origin complete
DO11
Interlock
DI11
Return-to-origin
DI14/DI17
Robot axis status
Return-to-origin
100ms or more
Return-to-origin processing
a) Return-to-origin input turns on. (pulse width: 100ms or more)
b) Robot axis starts moving to origin position.
c) Robot axis reaches origin position and stops moving.
On semi-absolute axes, the current position is determined and movement stops.
d) Return-to-origin complete output turns on.
Interlocks during return-to-origin
e) Return-to-origin input turns on (pulse width: 100ms or more) and return-to-origin complete
output turns off.
f) Robot axis starts moving to origin position.
g) Interlock input turns off.
h) On-going robot axis movement stops.
i) Interlock input turns on.
* When the return-to-origin complete output is on, return-to-origin does not have to be performed.
* Return-to-origin complete output is on until return-to-origin reset is required.
* Return-to-origin cannot be performed unless the servo is on.
* When the return-to-origin input is on, the return-to-origin complete output is off.
* Return-to-origin complete output automatically turns off when the controller is turned on,
because the origin positions become incomplete.
* When the "DI17 Mode" parameter is set to "ABS/ORG", return-to-origin can also be performed
with DI17. For description of DI14 and DI17, refer to "1.6 Dedicated input signal description".
1. Standard I/O interface overview