Timing Specifications; Design Notes For Remote Input Signals; Timing Diagram For Operation Execution Sequence - Epson RC700-D Manual

Functions 12. I/O Remote Settings
(*7) Outputs information in Real format.
(*8) Outputs the total load factor of the user created tasks. For details on the CPU load factor, refer to the task
manager.
(*9) The signal turns ON when the alarm occurs either in the Controller alarm information or the robot alarm
information.
(*10) For the parts subject to grease up, refer to the Manipulator manual.
(*11) It is not recommended that EStopOn does not match the output with emergency stop state and controller
off state. To output the state of emergency stop, assign EStopOff.
(*12) The occurrence of battery alarm and grease alarm is monitored every 5 minutes. The alarm occurrence
and output timing of the controller are different. It may be output up to 5 minutes after the controller alarm
occurs.

12.2 Timing Specifications

12.2.1 Design Notes for Remote Input Signals

The following charts indicate the timing sequences for the primary operations of the Controller.
The indicated time lapses (time durations) should be referred to only as reference values since the actual timing values
vary depending on the number of tasks running, as well as CPU speed of the Controller. Check carefully and refer
to the following charts for the timing interrelation when you enter an input signal.
During system design, make sure that you actuate only one remote input operation at a time, otherwise an error will
occur.
The pulse width of an input signal must be 25 or more milliseconds to be detected.

12.2.2 Timing Diagram for Operation Execution Sequence

132
MotorsOn
Output
AtHome
Output
SetMotorsOn
Input
SetMotorsOff
Input
Home
Input
940
Depending on
HOME motion
924
[Unit: msec]
RC700-D Rev.2