Yamaha RCX240, Руководство пользователя

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Chapter 6 PARALLEL I/O INTERFACE Chapter 6 PARALLEL I/O INTERFACE
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1.8.3 Absolute reset
on
off
on
off
on
off
on
off
on
off
Move
Stop
a) b) c) d) e) f) g) h) i)
Conditions: MANUAL mode and servo ON
CPU_OK
DO01a
Servo ON output
DO02a
Return-to-origin complete
DO11
Interlock
DI11
Absolute reset/Return-to-origin
DI17
Robot axis status
Absolute reset
100ms or more
Absolute reset processing
a) Absolute reset input turns on. (pulse width: 100ms or more)
b) Robot axis starts moving to origin position.
c) Robot axis reaches origin position and stops moving.
d) Return-to-origin complete output turns on.
Interlocks during absolute reset
e) Absolute reset input turns on (pulse width: 100ms or more) and return-to-origin complete
output turns off.
f) Robot axis starts moving to origin position.
g) Interlock input turns off.
h) On-going robot axis movement stops.
i) Interlock input turns on.
* When the return-to-origin complete output is on, absolute reset does not have to be performed.
* Return-to-origin complete output is on until absolute reset is required.
* Absolute reset cannot be performed unless the servo is on.
* When the absolute reset input is on, the return-to-origin output is off.
* Return-to-origin complete output automatically turns on when the controller is turned on, unless
there are errors in the origin position information.
1. Standard I/O interface overview