Yamaha RCX240 User Manual page 460

1. Standard I/O interface over view
5. DI12
DI12 is used to start the program.
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When the DI12 contact is closed (ON) in "AUTO" mode, the robot program starts at the rising
edge of the signal pulse. DO13 (Robot program-in-progress) is output when the robot program
is executed.
• Input signal pulse width: 100ms minimum
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n
NOTE
The rise of DI12 has the same function as the
c
CAUTION
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When the program execution is stopped by a signal such as DI11 (Interlock), the
program re-executes the command that has stopped.
6. DI13
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DI13 is used to switch to "AUTO" mode.
When the DI13 contact is closed (ON), operation switches to "AUTO" mode at the rising edge
of the signal pulse.
• Input signal pulse width: 100ms minimum
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7. DI14
Performs return-to-origin on incremental type axes and semi-absolute type axes. When return-
to-origin is performed, incremental type axes return to their origins. On semi-absolute type
axes, an absolute search (also called absolute reset) is performed by return-to-origin operation.
When the DI14 contact is closed (ON) in "MANUAL" mode, the axes will start returning to their
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origin positions at the rising edge of the signal pulse, in the return-to-origin sequence specified
by parameter.
If no incremental type axis and semi-absolute axis exist, an error "0.10: INC. motor
disconnected" occurs. This input signal is only for the axes whose return-to-origin method is set
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to "SENSOR" or "TORQUE" (stroke end).
• Input signal pulse width: 100ms minimum
8. DI15
DI15 is used to reset the program.
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When a signal is input to DI15 while the program is stopped in "AUTO" mode, the robot
program is reset.
At this point, all general-purpose outputs and variables are reset. However, the general-purpose
outputs are not reset in the following cases:
1. "DO cond. on PGM reset / RESCDO" in Other parameters is set to "HOLD".
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(For details, see "12.1.5 Other parameters" in Chapter.)
2. A sequence program is being executed without enabling the DO reset in the sequence
execution flag setting.
(For details, see "14.2. Enabling/disabling the sequence execution flag" in Chapter 4.)
DO14 (Program reset status output) is output when the program is correctly reset.
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• Input signal pulse width: 100ms minimum
6-10
Chapter 6 PARALLEL I/O INTERFACE
Program start
AUTO mode input
Return-to-origin
Program reset input
key.