Absolute Reset - Yamaha RCX240 User Manual

1. Standard I/O interface over view
1.8.3

Absolute reset

1
Absolute reset
CPU_OK
2
DO01a
Servo ON output
DO02a
Return-to-origin complete
DO11
3
Interlock
DI11
Absolute reset/Return-to-origin
DI17
4
Robot axis status
Absolute reset processing
5
a) Absolute reset input turns on. (pulse width: 100ms or more)
b) Robot axis starts moving to origin position.
c) Robot axis reaches origin position and stops moving.
d) Return-to-origin complete output turns on.
6
Interlocks during absolute reset
e) Absolute reset input turns on (pulse width: 100ms or more) and return-to-origin complete
output turns off.
7
f) Robot axis starts moving to origin position.
g) Interlock input turns off.
h) On-going robot axis movement stops.
i) Interlock input turns on.
8
* When the return-to-origin complete output is on, absolute reset does not have to be performed.
* Return-to-origin complete output is on until absolute reset is required.
* Absolute reset cannot be performed unless the servo is on.
* When the absolute reset input is on, the return-to-origin output is off.
9
* Return-to-origin complete output automatically turns on when the controller is turned on, unless
there are errors in the origin position information.
10
6-16
Chapter 6 PARALLEL I/O INTERFACE
on
off
on
off
on
off
on
off
on
off
100ms or more
Move
Stop
a) b)
Conditions: MANUAL mode and servo ON
c) d) e) f) g) h) i)