Yamaha RCX222, Руководство пользователя

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5-18 5-19
Chapter
5
PARALLEL I/O INTERF
ACE
1.9.3 ABS (absolute) reset
■
Absolute reset
Conditions: MANUAL mode and servo ON
DI00
(in SAFETY
connector)
Emergency stop
ready signal
DO00 Emergency stop
contact monitor
DO02 Servo-on state
DO03 Alarm
DO10 AUTO mode
DI11
(in SAFETY
connector)
Interlock input
DI17 ABS reset
DO11 Return-to-origin complete
Return-to-origin operation
10ms or more
(100ms or more recommended)
• To perform absolute reset, DI00 (Emergency stop ready signal) and DI11 (Interlock
input) must be on, and the robot servo must also be on.
• When DO11 (Return-to-origin complete output) is on, absolute reset does not have
to be performed.
• The "on" period of DI17 (ABS reset) input pulse must be longer than 10msec.
(100ms or more recommended)
• DO11 (Return-to-origin complete output) turns off (return-to-origin incomplete
state) when the robot starts absolute reset operation. After that, if the absolute reset
operation is interrupted before it is complete due to interlock or emergency stop,
then the robot status comes to "return-to-origin incomplete".
• If DI11 (Interlock input) is turned off while absolute reset is being performed on an
axis whose return-to-origin method is "Stroke end detection", that axis might stop
in contact with the stroke end. This probably causes an error such as overload, so
use caution.
n
NOTE
The DI00 (Emergency stop ready signal) and DI11 (Interlock input) input
terminals are located in the SAFETY connector. See Chapter 6 for detailed
information.
1. Standard I/O interface overview