Yamaha RCX240, Руководство пользователя

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Chapter 4 OPERATION
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Chapter 4 OPERATION
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12. "SYSTEM" mode
12.3.5.3 Timing chart of individual axis return-to-origin by general-purpose DI/SI
on
off
on
off
off
Move
Stop
Operation conditions: MANUAL mode and servo ON
Individual axis
return-to-origin complete
DOmn
Axis selection
DIxy
Absolute reset/return-to-origin
DI17/DI14
Robot axis status
*1
*2
a) b) c) d) e) f) g)
Timing chart of individual axis return-to-origin by general-purpose DI/SI
Absolute reset/return-to-origin processing
a) Axis selection input turns on.
b) Absolute reset/return-to-origin input turns on.
c) Specified robot axis starts moving to its origin position.
d) Absolute reset/return-to-origin input turns off.
e) Axis selection input turns off.
f) Specified robot axis completes the movement to its origin position.
g) Individual axis return-to-origin complete output turns on.
*1 Absolute reset input DI17 and return-to-origin input DI14 are kept turned on for 100 ms or
more.
*2 After the axis selection input has been kept turned on for 30 ms or more, the absolute reset
input DI17 or the return-to-origin input DI14 is turned on.