Yamaha RCX Series User Manual page 66

2. Details of remote input/output signals
Device No.
[RCX141/221]
SI(17): Return-to-origin input
RYnF
[RCX142/222]
SI(17): Absolute reset input
RY(n+1)0
to SI(20) to SI(27): General-purpose input
Chapter
RY(n+1)7
5
to
RY(n+6)8
to SI(150) to SI(157): General-purpose input
RY(n+6)F
RY(n+7)8 Initial data process complete flag
c
CAUTION
Step execution input (SI(03)) is only supported by the RCX221/222 series.
n
NOTE
Return-to-origin input and absolute reset input can also be executed in AUTO
mode by changing the execution level. Refer to the controller user's manual for
more details.
Remote registers (RWw)
Device No.
RWwn
RWw(n+1)
RWw(n+2)
General-purpose
SID(2)
RWw(n+3)
RWw(n+4)
General-purpose
SID(4)
RWw(n+5)
RWw(n+6)
General-purpose
SID(6)
RWw(n+7)
RWw(n+8)
General-purpose
SID(8)
RWw(n+9)
RWw(n+10)
General-purpose
SID(10)
RWw(n+11)
RWw(n+12)
General-purpose
SID(12)
RWw(n+13)
RWw(n+14)
General-purpose
SID(14)
RWw(n+15)
5-6
Signal name
to
n: Address assigned to master module with station No. setting
Name
Dedicated SIW(0)
Dedicated SIW(1)
General-purpose SIW(2)
General-purpose SIW(3)
General-purpose SIW(4)
General-purpose SIW(5)
General-purpose SIW(6)
General-purpose SIW(7)
General-purpose SIW(8)
General-purpose SIW(9)
General-purpose SIW(10)
General-purpose SIW(11)
General-purpose SIW(12)
General-purpose SIW(13)
General-purpose SIW(14)
General-purpose SIW(15)
n: Address assigned to master module with station No. setting
Details
Turn ON to perform return-to-origin on incremental mode
axes or semi-absolute mode axes.
When this input is switched from OFF to ON, return-to-
origin is performed on incremental mode axes or absolute
search is performed on semi-absolute mode axes.
Robot controller mode must be in MANUAL mode.
Turn ON to perform absolute reset of robot.
Absolute reset is performed when this input is switched
from OFF to ON, except for axes that use mark method
for return-to-origin. Absolute reset cannot be performed
by dedicated input if return-to-origin is incomplete on
axes that use mark method.
Robot controller mode must be in MANUAL mode.
Use ON/OFF of these general-purpose inputs for
referencing the SI port value and executing a WAIT
command.
Turns ON when power is turned ON, communication error
is reset, or data initialization is requested or completed.
Emergency stop input (RYn0) and interlock input (RYn9)
are turned ON when data is initialized.
Details
Used as the remote command area.
Used as the remote command's command data area.
Used to input word or double word data from SIW or SID
port.
Or, used as remote command's command data area.