Mitsubishi Electric CR800 Series Instruction Manual page 182

15 Maintenance of robot program
Timing Diagram of Dedicated Input/Output Signals
15.2.
Robot Program Start Processing
15.2.1.
The signal timing when a robot program is started from an external device is shown below.
PLC Robot
Turning servo ON
(SRVON)
Servo ON
(SRVON)
Program selectable
(SLOTINIT)
Program reset
(SLOTINIT)
Operating
(START)
Start
(START)
Stop
(STOP)
1) PLC sets "servo ON H" when it detects "turning servo ON L." The robot turns the servo power supply on and
sets "turning servo ON H." PLC acknowledges "turning servo ON H" and sets "servo ON L."
2) PLC sets "program reset H" upon receiving "program selectable L." The robot returns to the beginning of the
program and sets "program selectable H" when the program becomes ready to be started. PLC sets
"program reset L" when it detects "program selectable H."
3) PLC acknowledges "turning servo ON H," "program selectable H" and "operating L" and sets "start H."
The robot sets "program selectable L" and "operating H" when it detects "start H." PLC confirms "operating H"
and sets "start L."
4) If a stop signal is input, the following processing is performed.
Upon receiving "stop H" from PLC, the robot sets "operating L."
15-170 Timing Diagram of Dedicated Input/Output Signals
①
H
L
H
L
H
L
H
L
H
L
H
L
H
L
② ③ ④