Auto Mode Changeover, Program Reset And Program Execution - Yamaha RCX Series User Manual

3. Dedicated input/output signal timing chart
* 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 set to ON with SI (02) in the CC-Link system.
3.3

AUTO mode changeover, program reset and program execution

RXn8:SO ( 10 )
AUTO mode status
output
RXn9:SO ( 11 )
Return-to-origin complete
status output
RXnB:SO ( 13 )
Chapter
Robot program execution
5
status output
RXnC:SO ( 14 )
Program reset status output
RYn9:SI ( 11 )
Interlock input
RYnA:SI ( 12 )
Robot program start input
RYnB:SI ( 13 )
AUTO mode input
RYnD:SI ( 15 )
Program reset input
c
CAUTION
• The dedicated input ON/OFF process from the master station PLC to the
controller must be carried out at an interval of 100ms or more. If the interval is
too short, the dedicated input may not be recognized. (This also applies to the
same dedicated input and differing dedicated input intervals.)
• If dedicated outputs are provided for the dedicated inputs from the master
station PLC to controller, use them.
AUTO mode changeover process
a) AUTO mode input ON is input
b) AUTO mode status output ON is output
c) After confirming that the AUTO mode status output is ON, the AUTO mode input
OFF is input
Program reset process
d) Program reset input ON is input
5-10
on
off
on
off
on
off
on
off
on
off
on
off
on
off
on
off
a) b) c)
100ms or more 100ms or more
d) e) f) g) h) i)