Denso RC5 manual Example of Program Start Signal Fall Timing-1

RExample of program start signal fall (OFF) timing

a)The following figure shows how to make the program start signal fall with a robot system output (program start reset output).

When the robot program starts to run, a program start reset signal is output. The external device receives it and makes the program start signal fall (OFF).

Robot status		Wait for start
		or preceding cycle
Program start	ON
reset (output)	OFF
Program start	ON (shorted)
signal (input)	OFF (open)

Single-cycle operation

Example of Program Start Signal Fall Timing-1

b)The figure below shows how to make the program start signal fall with the simplified method (1 shot method using a timer).

Robot status Wait for start Single-cycle operation

50ms. or more required

Program start	ON (shorted)
signal (input)	OFF (open)

Example of Program Start Signal Fall Timing-2

Caution Q Although the 1 shot method is easy, the timer setting for falling to raise the program start signal in the middle of the preceding cycle is difficult.

Use this method only to raise the program start signal after the robot stops at the end of each cycle.

RThe status of the robot-in-operation, program start reset and single cycle end output signals changes in sequence after the program start signal is input (T1→ T2→ T3 in the figure given on the next page).

The change of the status of these signals takes place within 100 msec. after the program start signal rises (ON). See the next page.

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