Controller Status Transitions - Omron SCARA Robots YRCX Series User Manual

2.
Here we explain the status transitions of a robot controller equipped with a network interface unit. A
controller equipped with a network interface unit will initially start up in the emergency stop state. In order
for robot operation to be possible, communication must be established with the host control device, and a
sign that cancels the emergency stop state must be input.
If communication with the host control device is interrupted for any reason, the controller will again transition
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to the emergency stop state regardless of the I/O status. In order to resume operation, I/O processing is
required, such as reestablishing communication, cancelling the emergency stop state, and resetting any error.
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Controller status transitions

Startup
Host control device
Establish communication
Host control device
Host control device
Exchange I/O information
Host control device
Host control device
Cease communication
Startup
Robot controller
Robot controller
After both the host control
device and the controller
have started up and
established communication,
cyclic communication begins.
Input signals
Robot controller
Signals are input to cancel
emergency stop or errors,
putting the robot in an
operable state.
Robot controller
The robot is controlled via
remote commands or
programs
Robot controller
When communication
ceases, the robot transitions
to the emergency stop state,
robot power is shut down,
and the program also stops.
Power on, controller starts
in emergency stop state