Yamaha RCX240 User Manual page 461

9. DI16 MANUAL mode input
DI16 is used to switch to "MANUAL" mode.
• Input signal pulse width: 100ms minimum
10. DI17 Absolute reset/Return-to-origin
The robot motion may change according to the "DI17 Mode" setting of other parameters.
1. When the "DI17 Mode" parameter is set to "ABS"
DI17 is only used for "absolute reset".
Absolute reset is performed on the absolute type axes.
When the DI17 contact is closed (ON) in "MANUAL" mode, absolute reset will then start at
the rising edge of the signal pulse, in the return-to-origin sequence specified by parameter.
If no absolute type axis exists, an error "0.11: ABS motor disconnected" occurs. Absolute
reset can only be performed on axes whose return-to-origin method is set to "SENSOR"
or "TORQUE" (stroke end). Absolute reset cannot be performed when return-to-origin is
incomplete on axes whose return-to-origin method is set to "MARK".
• Input signal pulse width: 100ms minimum
2. When the "DI17 Mode" parameter is set to "ABS/ORG"
DI17 is used for both "absolute reset" and "return-to-origin".
Absolute reset is performed on absolute type axes. (See the above description of "1. When
the "DI17 Mode" parameter is set to "ABS".)
Return-to-origin is performed on incremental type axes. (See DI14 (Return-to-origin)
described earlier.)
When both absolute type axes and incremental type axes exist, absolute reset will be first
performed on the absolute type axes, and then return-to-origin will be performed on the
incremental type axes.
• Input signal pulse width: 100ms minimum
c
CAUTION
In most cases, do not use this setting. Use this setting only when return-to-origin
signal must be input to DI17. (For example, in cases where an RCX141 or RCX221
controller was replaced by the RCX240)
n
NOTE
The absolute reset input will not work on axes using the mark method for return-to-
origin.
c
CAUTION
DI01, DI12, DI13, DI15, DI16 and DI17 are inoperative while the program is being
executed. Input these signals only after the program is halted.
1. Standard I/O interface over view
Chapter 6 PARALLEL I/O INTERFACE
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