Yamaha SRCP manual I/O Control Timing Charts, When turning the power on

3-6 I/O Control Timing Charts

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I/O INTERFACE

3-6 I/O Control Timing Charts

The following shows typical timing charts for I/O control. Refer to these diagrams when creating a sequence program.

3-6-1 When turning the power on

When emergency stop is triggered:

DC24V power supply

AC power supply

300ms or more

READY

END

When emergency stop is canceled:

DC24V power supply

AC power supply

READY

END

500ms or more

When an alarm is issued:

DC24V power supply

AC power supply

READY

END

■The SRCP initial state depends on whether emergency stop is triggered when the power is turned on.

When the power is turned on while emergency stop is cancelled, the SRCP controller starts with the READY signal and also the servo turned on. (Robot is ready to operate in this state.) In contrast, when the power is on while emergency stop is triggered, the SRCP controller starts with the READY signal turned off under emergency stop conditions. (Robot operation is pro- hibited in this state.)

To enable robot operation, cancel the emergency stop to turn on the READY signal, and then input a servo recovery command (SERVO).

■After turning the power on, make sure that the END signal is on before inputting a dedicated command.

■If the READY and END signals are still off for more than the specified time after turning the power on, this means that an alarm has occurred. If that happens, correct the problem while referring to "13-2 Alarm and Countermeasures".

■Before supplying AC power to the power supply terminal block, DC 24V power to EXT. CN must be supplied.

c CAUTION

DC 24V power to EXT. CN must first be supplied before supplying AC power to the power supply terminal block. If this order is reversed, an alarm (06: 24V POWER OFF) might be issued.

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