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3. Dedicated input/output signal timing chart
3.1
Servo ON and emergency stop
(m+16CH)0:SO ( 00 )
Emergency stop input
status output
(m+16CH)1:SO ( 01 )
CPU_OK status output
(m+16CH)2:SO ( 02 )
Servo ON status output
(m+16CH)3:SO ( 03 )
Alarm status output
(n+16CH)0:SI ( 00 )
Emergency stop input
(n+16CH)1:SI ( 01 )
Servo ON input
CAUTION
• THIs ExPLANATION UsEs THE CHANNEL NUMBERs WHICH ARE AvAILABLE
WHEN THE IO sIZE Is sET TO "LARGE". NOTE THAT THE CHANNEL NUMBERs
DIFFER WHEN THE IO sIZE Is sET TO "sMALL".
• PROvIDE AN INTERvAL OF 100Ms OR MORE WHEN TURNING THE DEDICATED
INPUT FROM THE MAsTER MODULE TO THE CONTROLLER ON AND OFF. IF THE
INTERvAL Is TOO sHORT, THE DEDICATED INPUT MAY NOT BE RECOGNIZED. (THIs
ALsO APPLIEs TO THE INTERvAL FOR THE sAME DEDICATED INPUTs OR DIFFERING
DEDICATED INPUTs.)
• UsE THIs ALsO IF THERE Is A DEDICATED OUTPUT IN REsPECT TO THE
DEDICATED INPUT FROM THE MAsTER MODULE TO THE CONTROLLER.
Initial servo ON process after power ON
a) servo ON input ON is input
b) If not in the emergency stop state, output servo ON status ON is output
c) After confirming that servo ON status output is ON, servo ON input OFF is input
Shift to emergency stop
d) Emergency stop input OFF is input
e) Emergency stop input status ON and alarm status output ON are output
servo ON status output OFF is output
3. Dedicated input/output signal timing chart
on
off
on
off
on
off
on
off
on
off
on
off
a)
b) c)
d) e)
f) g)
h) i)
Chapter
5
j) k)
5-11
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