Table of Contents
Advertisement
2. Details of input/output signals
Channel No.
Large
(n+16CH)15
(nCH)15
Chapter
5
(n+17CH)0
(n+1CH)0
to
(n+17CH)7
(n+1CH)7
(n+17CH)8
(n+1CH)8
to
(n+17CH)15
(n+1CH)15
to
(n+22CH)8
to
(n+22CH)15
5-8
Signal name
Small
sI(17)
YRC
sI(20)
to
to
sI(27)
sI(30)
to
to
sI(37)
to
––
Used for "absolute reset" or "absolute reset / return-to-
origin" depending on parameter (DI17 mode) setting.
• When set to "ABs" (absolute reset)
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.
Absolute reset /
• When set to "ABs/ORG" (absolute reset / return-
Return-to-origin
to-origin)
input
When only absolute type axes are used, switching
this input from OFF to ON performs absolute reset.
When only incremental type and semi-absolute
type axes are used, switching this input from OFF
to ON performs return-to-origin on the incremental
axes and absolute search on the semi-absolute type
axes.
When absolute type, incremental type and
semi-absolute type axes are used, absolute reset
is first performed on the absolute axes and then
return-to-origin is performed on the incremental
type and semi-absolute type axes.
General-purpose
input
General-purpose
Use ON/OFF of these general-purpose inputs for
input
referencing the sI port value and executing a WAIT
command.
to
General-purpose
input
n : Output-area head CH number assigned to master module
Details
Advertisement
Table of Contents
