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1.7
Dedicated I/O signals
These signals are used to control the robot controller from an external device.
1.7.1 Dedicated input signals
These input signals are used to control the robot controller from an external device. The
input status can be checked from the robot program or sequence program.
n
NOTE
The pulse width of an input signal must be longer than 10ms. If two or more
dedicated input signals are supplied simultaneously, those signals may not
be recognized by the controller. Provide an interval of at least 100ms
between each dedicated input signal.
DI01
Ser vo ON
Cancels emergency stop and turns on the robot servo.
At the rising edge of this signal, DO03 (Alarm output) is cleared, the robot servo
turns on, and DO02 (Servo-on state output) turns on. At this point, the main power
must have been input and DI00 (Emergency stop ready signal) must be on.
n
NOTE
When using a PHASER series robot, noise is emitted for 0.5 to 2 seconds
during the fi rst servo-on after turning the power on. This is just the routine
pre-action for obtaining information needed to control the robot and is not
a problem.
DI03
Step run
Executes a step of the program in "AUTO" mode.
At the rising edge of this signal, one line of the program is executed. DO13 (Auto
operation-in-progress output) turns on during operation. Step operation cannot be
performed during emergency stop or when DI11 (Interlock input) is off.
n
NOTE
The DI00 (Emergency stop ready signal) and DI11 (Interlock input) input
terminals are on the SAFETY connector. Refer to Chapter 6 for detailed
information.
DI05
IO command run
Executes an IO command.
At the rising edge of this signal, an IO command is executed. However, when the IO
command setting is set to "Disable" by using the DIO option board parameter, no IO
command is executed. DO17 (BUSY) turns on during IO command execution. DO16
(END) turns on when the IO command has ended normally.
1. Standard I/O interface over view
Chapter
5
5-11
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