Yamaha RCX240, Руководство пользователя

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Chapter 6 PARALLEL I/O INTERFACE Chapter 6 PARALLEL I/O INTERFACE
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5. DI12 Program start
DI12 is used to start the program.
When the DI12 contact is closed (ON) in "AUTO" mode, the robot program starts at the rising
edge of the signal pulse. DO13 (Robot program-in-progress) is output when the robot program
is executed.
• Input signal pulse width: 100ms minimum
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NOTE
The rise of DI12 has the same function as the key.
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CAUTION
When the program execution is stopped by a signal such as DI11 (Interlock), the
program re-executes the command that has stopped.
6. DI13 AUTO mode input
DI13 is used to switch to "AUTO" mode.
When the DI13 contact is closed (ON), operation switches to "AUTO" mode at the rising edge
of the signal pulse.
• Input signal pulse width: 100ms minimum
7. DI14 Return-to-origin
Performs return-to-origin on incremental type axes and semi-absolute type axes. When return-
to-origin is performed, incremental type axes return to their origins. On semi-absolute type
axes, an absolute search (also called absolute reset) is performed by return-to-origin operation.
When the DI14 contact is closed (ON) in "MANUAL" mode, the axes will start returning to their
origin positions at the rising edge of the signal pulse, in the return-to-origin sequence specified
by parameter.
If no incremental type axis and semi-absolute axis exist, an error "0.10: INC. motor
disconnected" occurs. This input signal is only for the axes whose return-to-origin method is set
to "SENSOR" or "TORQUE" (stroke end).
• Input signal pulse width: 100ms minimum
8. DI15 Program reset input
DI15 is used to reset the program.
When a signal is input to DI15 while the program is stopped in "AUTO" mode, the robot
program is reset.
At this point, all general-purpose outputs and variables are reset. However, the general-purpose
outputs are not reset in the following cases:
1. “DO cond. on PGM reset / RESCDO” in Other parameters is set to “HOLD”.
(For details, see “12.1.5 Other parameters” in Chapter.)
2. A sequence program is being executed without enabling the DO reset in the sequence
execution flag setting.
(For details, see “14.2. Enabling/disabling the sequence execution flag” in Chapter 4.)
DO14 (Program reset status output) is output when the program is correctly reset.
• Input signal pulse width: 100ms minimum
1. Standard I/O interface overview