Yamaha RCX240 User Manual page 463

In case (2)
Alarm turns off when the emergency stop flag is cancelled in "UTILITY" mode. However,
the alarm condition is maintained while the driver unit still has power so the power must be
turned off and then on again in order to turn on the servos and restart the program.
In case (3)
Since the CPU has stopped, the alarm cannot be turned off and operation cannot be reset
unless the power supply is turned on again.
In case (4)
When a battery abnormality is detected, the alarm cannot turn off until the power supply is
turned on again.
If the alarm is still on even after the power has been turned on again, then the battery
connections must be checked or the battery replaced.
6. DO03b Alarm: contact B (normally closed)
This is a complementary (inverted) logic output of the alarm (A contact) signal.
7. DO10 AUTO mode output
DO10 is always on when "AUTO" mode is selected.
8. DO11 Return-to-origin complete
DO11 is always on when return-to-origin on all axes is complete. If this output is off, absolute
reset or return-to-origin must be performed.
9. DO12 Sequence program-in-progress
DO12 is always on when the sequence program is being executed.
10. DO13 Robot program-in-progress
DO13 is always on when the robot program is being executed in "AUTO" mode, or when
executed individually.
11. DO14 Program reset status output
DO14 is always on when the robot program is reset and turns off when the program starts.
1. Standard I/O interface over view
Chapter 6 PARALLEL I/O INTERFACE
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