3. Dedicated input/output signal timing chart
3.2Servo ON and emergency stop
c CAUTION
•The dedicated input ON/OFF process from the master station PLC to the controller must be carried out at an interval of 100ms or more. If the interval is too short, the dedicated input may not be recognized. (This also applies to the same dedicated input and differing dedicated input intervals.)
•If dedicated outputs are provided for the dedicated inputs from the master station PLC to controller, use them.
RXn0:SO(00) Emergency stop input status output
RXn1:SO(01)
CPU_OK output
RXn2:SO(02)
Servo ON status output
RXn3:SO(03) Alarm status output
RYn0:SI(00) Emergency stop input
RYn1:SI(01)
Servo ON input
on
off on
off on
off on
off on
off on
off
a) | b) c) | d) e) | f) g) | h) i) | j) k) |
Initial servo ON process after power ON
a)Servo ON input ON is input
b)If not in the emergency stop state, output servo ON status ON is output
c)After confirming that servo ON status output is ON, servo ON input OFF is input
Shift to emergency stop
d)Emergency stop input OFF is input
e)Emergency stop input status and alarm status output ON are output Servo ON status output OFF is output
Servo ON process from emergency stop status
f)Emergency stop input ON is input
g)Emergency stop input status output OFF is output
h)Servo ON input ON is input
i)Alarm status output OFF is output
j)Servo ON status output ON is output
k)After confirming that servo ON status output is ON, servo ON input OFF is input
*The servo is OFF when the controller power is turned ON.
*When SAFE mode is enabled, dedicated inputs other than SI (00) and SI (11) might be disabled depending on service mode parameter setting unless service mode input sig- nal is set to ON with SI (02) in the
5
Specifications
