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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1.8.4 Switching to AUTO mode, program reset and execution
on
off
on
off
on
off
on
off
on
off
on
off
on
off
on
off
a) b) c) d) e) f) g) h) i)
AUTO mode output
DO10
Return-to-origin complete
DO11
Robot program-in-progress
DO13
Program reset status output
DO14
Interlock
DI11
Program start
DI12
AUTO mode input
DI13
Program reset input
DI15
100ms or more 100ms or more
Switching to AUTO mode, program reset and execution
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.
1. Standard I/O interface overview