Yamaha RCX240, Руководство пользователя

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General contents General contents
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2.2.8 Absolute reset 5-26
2.2.8.1 Checking absolute reset status 5-26
2.2.8.2 Absolute reset on each axis (mark method) 5-27
2.2.8.3 Absolute reset on each axis (stroke end method / sensor method) 5-29
2.2.8.4 Absolute reset on all axes 5-31
2.3 "SYSTEM" mode 5-34
2.3.1 "SYSTEM" mode initial screen format 5-34
2.3.2 Robot parameters screen format 5-35
2.3.3 Axis parameters screen format 5-36
2.3.4 Setting the area check output 5-37
2.3.5 Double-carrier collision prevention 5-39
2.4 Error message displays 5-44
3. Programming 5-45
3.1 Robot languages used in the two-robot setting 5-45
Chapter 6 PARALLEL I/O INTERFACE
1. Standard I/O interface overview 6-1
1.1 Power supply 6-1
1.2 Connector I/O signals 6-2
1.3 Connector pin numbers 6-3
1.4 Typical input signal connection 6-4
1.5 Typical output signal connection 6-6
1.5.1 Dedicated outputs 6-6
1.5.2 General-purpose outputs 6-8
1.6 Dedicated input signal description 6-9
1.7 Dedicated output signal description 6-12
1.8 Dedicated I/O signal timing chart 6-14
1.8.1 Controller power ON, servo ON and emergency stop 6-14
1.8.2 Return-to-origin 6-15
1.8.3 Absolute reset 6-16
1.8.4 Switching to AUTO mode, program reset and execution 6-17
1.8.5 Stopping due to program interlocks 6-18
1.9 General-purpose I/O signals 6-19
1.9.1 General-purpose input signals 6-19
1.9.2 General-purpose output signals 6-19
1.9.3 General-purpose output signal reset (off) 6-19
2. Option I/O interface overview 6-21
2.1 ID settings 6-22
2.2 Power supply 6-22
2.3 Connector I/O signals 6-23
2.4 Connector pin numbers 6-24
2.5 Typical input signal connection 6-25
2.6 Typical output signal connection 6-25
2.7 General-purpose I/O signals 6-26