General-Purpose I/O Signals; General-Purpose Input Signals; General-Purpose Output Signals; General-Purpose Output Signal Reset (Off) - Yamaha RCX240 User Manual

1.9

General-purpose I/O signals

1.9.1

General-purpose input signals

These are a total of 16 signals consisting of DI20 to DI27 and DI30 to DI37.
These general-purpose inputs are available to the user and can be connected to components such
as pushbutton switches and sensors. The user can specify these components on the robot program
or sequence program.
c
CAUTION
If the "8. DI noise filter" parameter is set to "VALID" (refer to "12.1.5 Other parameters"
in Chapter 4), the on and off periods of input signals must be longer than 25ms.
1.9.2

General-purpose output signals

These are a total of 8 signals consisting of DO20 to DO27.
All signals are Darlington transistor open-collector outputs.
Maximum output current of each transistor is 100mA.
The general-purpose outputs are all available to the user, and can be specified on the robot
program or sequence program.
All output signals are initialized when the controller power is turned on.
The area check output can be assigned to DO20 to DO27.
n
NOTE
If the port used for area check output is the same as that used by the user program,
the output data might change. Do not use the same port.
1.9.3

General-purpose output signal reset (off)

All general-purpose output signals are reset (off) in the following cases.
1) When the (RST.DO) was pressed in "UTILITY" mode.
2) When all of the following conditions a) to c) are met:
a) "DO cond. on PGM reset / RESCDO" in Other parameters is set to "RESET".
(For details, See "12.1.5 Other parameters" in Chapter 4.)
b) No sequence program is being executed or the DO reset is enabled in the sequence
execution flag setting even if a sequence program is being executed.
(For details, see "14.2 Enabling/disabling the sequence execution flag" in Chapter 4.)
c) Any of the following operations was performed.
■ Compile ended successfully in "PROGRAM" mode.
■ A program was compiled in "AUTO" mode and the compile ended successfully.
(RESET) was executed in "AUTO" mode.
■
■ The dedicated input signal DI15 (Program reset input) was turned on in "AUTO" mode
while the program was stopped.
(Refer to "1.6 Dedicated input signal description" in this Chapter.)
1. Standard I/O interface over view
Chapter 6 PARALLEL I/O INTERFACE
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