Timing Specifications; Precautions For Remote Input Signals; Timing Diagram For Operation Execution Sequence; Timing Diagram For Program Execution Sequence - Epson T-B Series Manual

T3-B T6-B Manipulator 14. I/O Remote Settings

14.2 Timing Specifications

14.2.1 Precautions for Remote Input Signals

The following charts indicate the timing sequences for the primary operations of the
Controller.
The indicated time lapses (time durations) should be referred to only as reference values
since the actual timing values vary depending on the number of tasks running, as well as
CPU speed of the Manipulator. Check carefully and refer to the following charts for the
timing interrelation when you enter an input signal.
During system design, make sure that you actuate only one remote input operation at a time,
otherwise an error will occur.
The pulse width of an input signal must be 25 or more milliseconds to be detected.

14.2.2 Timing Diagram for Operation Execution Sequence

14.2.3 Timing Diagram for Program Execution Sequence

CurrProg1
* Paused
SelProg1
Continue
* The duration varies depending on the Quick Pause (QP) setting and the program's
132
940
MotorsOn
Output
AtHome
Output
SetMotorsOn
Input
SetMotorsOff
Input
Home
Input
Ready
34
Output
34
Output
34
Running
Output
Output
Input
Start
Input
Pause
Input
Input
Stop
Input
operating status at the time of Pause input
1250
Depending on
HOME motion
110
34
34
110
[Unit: ms]
410
410
T-B series Rev.1