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l) Axis selection input turns off.
m) Interlock input turns off.
n) Robot M1-axis stops during movement.
o) Interlock input turns on.
*1 Absolute reset input DI17 is kept turned on for 100 ms or more.
*2 After the axis selection input has been turned on for 30 ms or more, the absolute reset
input DI17 is turned on.
M2-axis absolute reset processing
Individual axis
return-to-origin complete
DO21
Axis selection (M2-axis)
DI21
Absolute reset
DI17
Move
Robot axis status
Normal operation
a) Axis selection input turns on.
b) Absolute reset input turns on.
c) Robot M2-axis starts moving to its origin position.
d) Absolute reset input turns off.
e) Axis selection input turns off.
f) Robot M2-axis moves to its origin position completely.
g) Individual axis return-to-origin complete output turns on.
*1 Absolute reset input DI17 is kept turned on for 100 ms or more.
*2 After the axis selection input has been kept turned on for 30 ms or more, the absolute reset
input DI17 is turned on.
on
off
on
off
on
off
*1
Stop
*2
a)
b)
c)
d)
e)
f) g)
Chapter 4 OPERATION
12. "SYSTEM" mode
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