Stopping Due To Program Interlocks - Yamaha RCX40 User Manual

1. I/O interface overview
5
c
CAUTION
• When the program stops during
execution by input of DI11 signal
(Interlock input) or other reason,
the program re-executes the
command that has stopped. Keep
this point in mind when re-
executing the program with DI12
signal (Program start).
14
5-
1.8.4

Stopping due to program interlocks

on
AUTO mode output: DO(10)
off
on
Return-to-origin complete
output: DO(11) off
on
Robot program in-progress
output: DO(13) off
on
Interlock input: DI(11)
off
on
Program start input: DI(12)
off
Program execution
a) Program start input turns on.
b) Robot program in-progress output turns on.
c) Program start input turns off after checking robot program in-progress output is turned
on.
Program stop processing due to interlock
d) Interlock input turns off.
e) Robot program in-progress output turns off.
Program execution after stopping program due to interlock input
f) Interlock input turns on.
g) Program start input turns on.
h) Robot program in-progress output turns on.
i) Program start input turns off after checking robot program in-progress output is turned
on.
* Program will stop if switching to emergency stop. An alarm is output at this time and
the servo-ON output turns off. The servo must be turned on to execute the program
again.
a ) b ) c ) d ) e ) f ) g ) h ) i )
100ms or more