Yamaha RCX240, Руководство пользователя

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Chapter 6 PARALLEL I/O INTERFACE Chapter 6 PARALLEL I/O INTERFACE
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1.7 Dedicated output signal description
1. DO01a CPU_OK: contact A (normally open)
This is always on during normal controller operation.
In the following cases this output turns off and CPU operation stops.
• Serious malfunction
• When the power supply voltage has dropped to lower than the specified value.
Normal operation cannot resume if this signal is turned off once, without turning the power
supply on again.
2. DO01b CPU_OK: contact B (normally closed)
This is a complementary (inverted) logic output of the CPU_OK (A contact).
3. DO02a Servo ON output: contact A (normally open)
This output is on when the motor power supply inside the controller is on. However this signal
turns off when a serious malfunction occurs or the emergency stop input contacts are open.
After the emergency stop input contacts are closed, when the servo turns on in "UTILITY" mode
or with DI01 (Servo ON input) of the I/O interface turned on, then DO02a turns on at the same
time.
The servo will not turn on if a serious malfunction occurs or the emergency stop input contacts
are open.
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NOTE
In PHASER series robot operation, when the servo is first turned on after power-on,
the robot emits a noise (sound) for 0.5 to 2 seconds during the servo-on process and
then enters a servo-on state. This is normal operation for obtaining the necessary
control information by slightly moving the robot and is not an abnormal condition.
4. DO02b Servo ON output: contact B (normally closed)
This is a complementary (inverted) logic output of the servo ON (A contact) signal.
5. DO03a Alarm: contact A (normally open)
This output turns on in the following cases.
1) When contacts on the emergency stop switch open.
2) When a driver unit detects a serious malfunction such as an overload.
(However does not include abnormalities from when the power is turned on.)
3) When the host CPU has stopped due to a major abnormality or other causes.
4) When battery voltage for retaining the memory is low or the battery is disconnected.
However, even if an alarm is turned on due to a low battery, this does not affect other
conditions or execution of programs.
The "ERR" LED on the controller front panel lights up simultaneously when an alarm is
triggered.
The alarm can be turned under the following conditions for each of the above cases.
In case (1)
After the emergency stop input contacts are closed, alarm turns off when the emergency
stop flag is cancelled in "UTILITY" mode or DI01 (Servo ON input) of the I/O interface is
turned on to cancel the emergency stop.
(This alarm can also be cancelled after the power is turned on again.)
1. Standard I/O interface overview