Shibaura CA20-M10, Руководство по эксплуатации

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11
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
11.4.7 Details of I/O signals
(1) Rotation command input (RYn0), running output (RXn0), and target speed achievement
output (RXn2)

When the rotation command input (RYn0) is turned ON, the motor starts running; when it is
turned OFF, the motor stops.

The rotation command input (RYn0) is not accepted in the following cases:

Servo-on input (RYn1) is OFF.

Error output (RXn1) is ON.

Not all the target speed validation inputs (RYn4 to RYn7) are set to 1's.

The robot is being operated with the teach pendant (T/P).

T/P is ON with the teach pendant connected.

The robot is being operated with the personal computer software.

The execution screen of the personal computer software is open.

Turn ON the rotation command input (RYn0) one second or more after the servo-on input
(RYn1) is turned ON.
If the time interval is too short, the motor will not start running. If the motor does not start, turn
OFF the rotation command input (RYn0), and turn it ON one second or more after the servo-on
input is turned ON.

If the error output (RXn1) is turned ON, turn OFF both the rotation command input (RYn0) and
the servo-on input (RYn1).

The running output (RXn0) is ON during motor rotation.

The target speed achievement output (RXn2) is ON while the motor speed is maintained at the
target speed (RWwn).
This output is based on the speed command value in the controller, and the actual motor speed
is not reflected in the output. Thus, use the output as a rough standard. If the information of
actual motor speed is necessary, refer to the current speed (RWrn).

Before turning ON the rotation command input (RYn0), confirm that:
- one second or more has passed after turning ON the servo-on input (RYn1),
- the four bits of target speed validation inputs (RYn4 to RYn7) are all ON, and
- the error output (RXn1) is OFF.

When the rotation command input (RYn0) is turned ON, the motor starts running.

When the motor starts running, the running output (RXn0) is turned ON.
Target speed (RWwn)
Rotation command input
(RYn0)

Running output (RXn0)



Time


Error output (RXn1)
Servo-on input (RYn1)
1 sec or more
Target speed validation
input (RYn4 to RYn7)
ON
OFF
Motor speed
Target speed achievement
output (RXn2)
