Yamaha RCX222, Руководство пользователя

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5-10 5-11
Chapter
5
PARALLEL I/O INTERF
ACE
1.7 Dedicated I/O signals
These signals are used to control the robot controller from an external device.
1.7.1 Dedicated input signals
These input signals are used to control the robot controller from an external device. The
input status can be checked from the robot program or sequence program.
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NOTE
The pulse width of an input signal must be longer than 10ms. If two or more
dedicated input signals are supplied simultaneously, those signals may not
be recognized by the controller. Provide an interval of at least 100ms
between each dedicated input signal.
DI01 Servo ON
Cancels emergency stop and turns on the robot servo.
At the rising edge of this signal, DO03 (Alarm output) is cleared, the robot servo
turns on, and DO02 (Servo-on state output) turns on. At this point, the main power
must have been input and DI00 (Emergency stop ready signal) must be on.
DI03 Step run
Executes a step of the program in "AUTO" mode.
At the rising edge of this signal, one line of the program is executed. DO13 (Auto
operation-in-progress output) turns on during operation. Step operation cannot be
performed during emergency stop or when DI11 (Interlock input) is off.
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NOTE
The DI00 (Emergency stop ready signal) and DI11 (Interlock input) input
terminals are on the SAFETY connector. Refer to Chapter 6 for detailed
information.
DI05 IO command run
Executes an IO command.
At the rising edge of this signal, an IO command is executed. However, when the IO
command setting is set to "Disable" by using the DIO option board parameter, no IO
command is executed. DO17 (BUSY) turns on during IO command execution. DO16
(END) turns on when the IO command has ended normally.
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NOTE
When not using IO commands, set the IO command setting to "Disable" by
parameter.
Refer to the programming manual for detailed information on IO
commands.
1. Standard I/O interface overview