3. Dedicated input/output signal timing chart
3.3AUTO mode changeover, program reset and program execution
5
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.
on
RXn8:SO(10) |
| |
AUTO mode status | off | |
output | ||
on | ||
RXn9:SO(11) | ||
| ||
Origin return complete | off | |
status output | ||
on | ||
| ||
RXnB:SO(13) |
| |
Robot program execution | off | |
status output | ||
on | ||
|
RXnC:SO(14)
Program reset status output off
on
RYn9:SI(11) |
|
Interlock input | off |
| |
| on |
RYnA:SI(12) |
|
Robot program start input | off |
| |
| on |
RYnB:SI(13) |
|
AUTO mode input | off |
| |
RYnD:SI(15) | on |
| |
Program reset input | off |
|
a) | b) | c) | d) | e) | f) | g) h) i) |
Specifications
100ms or more 100ms or more
AUTO mode changeover process
a)AUTO mode input ON is input
b)AUTO mode status output ON is output
c)After confirming that the AUTO mode status output is ON, the AUTO mode input OFF is input
Program reset process
d)Program reset input ON is input
e)Program reset status output ON is output
f)After confirming that the program reset status output is ON, the program reset input OFF is input
Program execution process
g)Robot program start input ON is input
h)Program reset status output OFF is output
Robot program execution status output ON is output
i)After confirming that the robot program execution status output is ON, the robot program start input OFF is input
*The program cannot be executed if the emergency stop input and interlock input are OFF.
*If the origin return complete status output is not ON, execution of the program may not be possible depending on the execution level setting value.
*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 signal is set to ON with SI (02) in the
