Yamaha Yamaha Robot Controller CC-Link Unit, RCX Series Details of remote input/output signals

2. Details of remote input/output signals

Device No.	Signal name	Details
RXn0	SO (00): Emergency stop input status output	Turns ON when robot controller is in emergency stop state.
RXn1	SO (01): CPU_OK status output	Turns ON when robot controller is in normal state.
RXn2	SO (02): Servo ON status output	Turns ON when robot controller motor power is ON.
		Turns ON when robot controller is in following state:
RXn3	SO (03): Alarm status output	• Serious error occurred in robot controller.
		• Emergency stop input OFF
RXn8	SO (10): AUTO mode status output	Turns ON when selected mode is AUTO mode.
		Turns OFF when other mode is selected.
RXn9	SO (11): Origin return complete status output	Turns ON when robot has complete origin return.
RXnA	SO (12): Sequence program execution status output	Turns ON while sequence program is executed.
RXnB	SO (13): Robot program execution status output	Turns ON while robot program is executed.
RXnC	SO (14): Program reset status output	Turns ON when robot program has been reset.
		Turns OFF when robot program starts.
		Turns ON when the system backup battery (all
RXnD	SO (15): Battery alarm output	models of RCX series) or absolute battery
		(RCX142/222) is low.
		Turns OFF while executing the IO command.
RXnE	SO (16): IO command execution judgment output	After executing the IO command turns ON if
		normal, and stays OFF if abnormal.
RXnF	SO (17): Output during IO command execution	Turns ON while the IO command is being executed.
RX(n+1)0
to	SO(20) to SO(27): General-purpose output
RX(n+1)7
		General-purpose output turns ON/OFF when value
to	to	is substituted to SO port, or SET/RESET command
		is executed or OUT command is executed.
RX(n+6)8
to	SO(150) to SO(157): General-purpose output
RX(n+6)F
		The initial data process request flag turns ON to request
		the initial data setting when the power is turned ON, or
RX(n+7)8	Initial data process request flag	when returning from a communication error.
		Turns OFF when initial data process is completed
		(initial data process complete flag RY(n+7)8 turns ON).
		Turns ON when initial data setting is completed and
RX(n+7)B	Remote station ready	READY state is entered when power is turned ON
		or when returning from communication error.
	n: Address assigned to master module with station No. setting

5

Specifications

5-3