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

5

Specifications

2. Details of remote input/output signals

Device No.	Signal name	Details
RYn0	SI (00): Emergency stop input	Turn OFF to trigger emergency stop on controller.
		Keep turned ON during normal operation.
		Turn ON to cancel emergency stop and turn ON the
		robot servo motor.
		Servo-ON is executed when this input is switched
RYn1	SI (01): Servo ON input	from OFF to ON.
		Emergency stop input [SI(00)] (RYn0) must be ON
		and emergency stop conditions in the robot
		controller (emergency stop terminal of SAFETY
		connector, etc.) must be canceled.
		Turn OFF to enter the controller in service mode. Keep
		turned ON during normal operation.
RYn2	SI (02): Service mode input	(Effective only when SAFE mode is enabled.)
		(In SAFE mode enabled, dedicated input might be
		disabled depending on service mode parameter setting.)
		Turn ON to execute a step in the program during
RYn3	SI (03): Step run	AUTO mode.
		One line of the program is executed when this input
		is changed from OFF to ON.
		Changes from OFF to ON while executing the IO
RYn5	SI (05): IO command execution trigger input	command.
		Turns ON after the IO command is set to a general-
		purpose input.
		Turn ON to execute sequence program in the robot
RYn8	SI (10): Sequence control input	controller.
		Sequence program is executed when this input is ON.
RYn9	SI (11): Interlock input	Turn OFF to stop execution of robot program.
		Keep tuned ON to continue program execution.
		Turn ON to execute robot program.
RYnA	SI (12): Robot program start input	Robot program is executed when this input is
		switched from OFF to ON.
		Robot controller must be in AUTO mode.
		Turn ON to select AUTO mode.
RYnB	SI (13): AUTO mode input	Robot program enters AUTO mode when this input
		is switched from OFF to ON.
		Turn ON to perform absolute reset on robot.
		Reset is performed when this input is changed from
	[RCX141/221]	OFF to ON. Absolute reset is not performed on axes
	SI (14): Absolute reset input	that use mark method for origin return.
		Robot controller must be in MANUAL mode to
RYnC		perform absolute reset.
		Turn ON to perform origin return on incremental
		axes.
	[RCX142/222]	When this input is changed from OFF to ON, origin
		return is performed on axes that are set to "sensor"
	SI (14): Origin return
		or "stroke end" origin return method. Origin return is
		not performed on axes that are set to "mark" origin
		return method.
		Turn ON to reset robot program.
RYnD	SI (15): Program reset input	Program reset is executed when this input is
		switched from OFF to ON.
		Robot controller must be in AUTO mode.
		Turn ON to select MANUAL mode.
RYnE	SI (16): MANUAL mode input	Robot program enters MANUAL mode when this
		input is switched from OFF to ON.
		Turn ON to perform origin return on incremental
		axes.
	[RCX141/221]	When this input is changed from OFF to ON, origin
	SI (17): Origin return	return is performed on axes that are set to "sensor"
		or "stroke end" origin return method. Origin return is
		not performed on axes that are set to "mark" origin
RYnF		return method.
		Turn ON to perform absolute reset on robot.
		Reset is performed when this input is changed from
	[RCX142/222]	OFF to ON. Absolute reset is not performed on axes
	SI (17): Absolute reset input	that use mark method for origin return.
		Robot controller must be in MANUAL mode to
		perform absolute reset.
	n: Address assigned to master module with station No. setting

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