Yamaha RCX series, Руководство пользователя

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5-4
Chapter
5
SPECIFICA
TIONS
2. Details of remote input/output signals
Remote input (RX)
Device No. Signal name Details
RXn0 SO(00): Emergency stop input status output Turns ON when robot controller is in emergency stop state.
RXn1 SO(01): CPU_OK status output Turns ON when robot controller is in normal state.
RXn2 SO(02): Servo ON status output Turns ON when robot controller motor power is ON.
RXn3 SO(03): Alarm status output
Turns ON when robot controller is in following state:
• Serious error occurred in robot controller.
• Emergency stop input OFF
RXn8 SO(10): AUTO mode status output
Turns ON when selected mode is AUTO mode.
Turns OFF when other mode is selected.
RXn9 SO(11): Return-to-origin complete status output Turns ON when robot has completed return-to-origin.
RXnA SO(12): Sequence program execution status output Turns ON while sequence program is executed.
RXnB SO(13): Robot program execution status output Turns ON while robot program is executed.
RXnC SO(14): Program reset status output
Turns ON when robot program has been reset.
Turns OFF when robot program starts.
RXnD SO(15): Battery alarm output
Turns ON when the system backup battery (RCX221/222)
or absolute battery (RCX222) is low.
RXnE SO(16): IO command execution judgment output
Turns OFF while executing the IO command.
After executing the IO command turns ON if normal, and
stays OFF if abnormal.
RXnF SO(17): Output during IO command execution Turns ON while the IO command is being executed.
RX(n+1)0
SO(20) to SO(27): General-purpose output
General-purpose output turns ON/OFF when value is
substituted to SO port, or SET/RESET command is
executed or OUT command is executed.
to
RX(n+1)7
to to
RX(n+6)8
SO(150) to SO(157): General-purpose output to
RX(n+6)F
RX(n+7)8 Initial data process request flag
The initial data process request flag turns ON to request
the initial data setting when the power is turned ON, or
when returning from a communication error.
Turns OFF when initial data process is completed (initial
data process complete flag RY(n+7)8 turns ON).
RX(n+7)B Remote ready
Turns ON when initial data setting is completed and
READY state is entered when power is turned ON or
when returning from communication error.
n: Address assigned to master module with station No. setting
c
CAUTION
• Battery alarm output (SO(15)) is only supported by the RCX221/222 series.
• When the area check output function is used, the area check outputs can be
assigned to general-purpose outputs SO(20) to SO(27).
2. Details of remote input/output signals