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3. Dedicated input/output signal timing chart
Servo ON process from emergency stop status
f) Emergency stop input ON is input
g) Emergency stop input status output OFF is output
h) servo ON input ON is input
i) Alarm status output OFF is output
j) servo ON status output ON is output
k) After confirming that servo ON status output is ON, servo ON input OFF is input
* The servo is OFF when the controller power is turned ON.
* When sAFE mode is enabled, dedicated inputs other than sI (00) and sI (11) might be
disabled depending on service mode parameter setting unless service mode input signal is
Chapter
set to ON with sI (02) in the DeviceNet system.
5
3.2
AUTO mode changeover, program reset and program execution
(m+16CH)8:SO ( 10 )
AUTO mode status
output
(m+16CH)9:SO ( 11 )
Return-to-origin complete
status output
(m+16CH)11:SO ( 13 )
Robot program execution
status output
(m+16CH)12:SO ( 14 )
Program reset status output
(n+16CH)9:SI ( 11 )
Interlock input
(n+16CH)10:SI ( 12 )
Robot program start input
(n+16CH)11:SI ( 13 )
AUTO mode input
(n+16CH)13:SI ( 15 )
Program reset input
5-12
on
off
on
off
on
off
on
off
on
off
on
off
on
off
on
off
c)
a)
b)
100ms or more
d)
e)
f)
g) h)
100ms or more
i)
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