Yamaha RCX40, User Manual

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I/O interface
1. I/O interface overview
1.9 General-purpose I/O signals
1.9.1 General-purpose input signals
These are a total of 16 signals consisting of DI20 to DI27 and DI30 to DI37.
These general-purpose inputs are available to the user, and can be connected to components
such as pushbutton switches and sensors. The user can specify these components on the
robot program or sequence program.
1.9.2 General-purpose output signal
These are a total of 8 signals consisting of DO20 to DO27.
All signals are Darlington transistor open-collector outputs.
Maximum output current of each transistor is 100mA.
The general-purpose outputs are all available to the user, and can be specified on the robot
program or sequence program.
All output signals are initialized when the controller power is turned on.
1.9.3 General-purpose output signal reset (off)
All general-purpose output signals are reset (off) in the following cases.
1) When the
F 5
(RST.DO) key was pressed in “UTILITY” mode.
2) When any of the following operations is performed without executing a sequence
program or the sequencer execution flag was reset.
■
When compiling was done in “PROGRAM” mode.
■
When a program was compiled in “AUTO” mode.
■
When a program was reset in “AUTO” mode.
■
When the dedicated input signal DI15 (Program reset input) was turned on in
“AUTO” mode while the program was stopped.
(Refer to section 1.6, “Dedicated input signals”.)
■
When either of the following was initialized in “SYSTEM>INIT” mode.
1. Program memory (SYSTEM>INIT>MEMORY>PROGRAM)
2. Entire memory
(SYSTEM>INIT>MEMORY>ALL)
■
When the SWI command was executed in “AUTO” mode.
■
When the online commands @RESET, @INIT PGM, @INIT MEM, @INIT ALL,
@SWI were executed.
■
When the SWI statement was executed in the program.
■
When the HALT statement was executed in the program.
c
CAUTION
When the "8. DI noise filter"
parameter explained in section 12.1.3,
"Other parameters", is enabled
(valid), the ON or OFF signal width
for general-purpose input signals
must be longer than 25 msec. (The
"8. DI noise filter" parameter
function is enabled for the controller
software V8.23 or later version.)