3.Dedicated input/output signal timing chart
3.4Stopping with program interlock
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.
RXn8:SO(10) | on |
| |
AUTO mode status | off |
output | |
RXn9:SO(11) | on |
| |
Origin return complete | off |
status output | |
RXnB:SO(13) | on |
| |
Robot program execution |
|
status output | off |
RYn9:SI(11) | on |
| |
Interlock input |
|
| off |
RYnA:SI(12) | on |
Robot program start |
|
input | off |
|
a) b) c) | d) e) | f) | g) h) | i) |
100ms or more
Program execution process
a)Robot program start input ON is input
b)Robot program execution status output ON is output
c)After confirming that the robot program execution status output is ON, the start input OFF is input
Program stop process using interlock input
d)Interlock input OFF is input
e)Robot program execution status output OFF is output
Program execution after stopping program with interlock input
f)Interlock input ON is input
g)Robot program start input ON is input
h)Robot program execution status output ON is output
i)After confirming that the robot program execution status output is ON, the start input OFF is input
*The program will also stop when the emergency stop input OFF is input. In this case, the emergency stop input status and alarm status output ON will be output, and the servo ON status output OFF will be output. The servo ON process is required to start the program again.
*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
