Details Of Remote Input/Output Signals - Yamaha RCX Series User Manual

2. Details of remote input/output signals

2. Details of remote input/output signals

Remote input (RX)
Device No.
RXn0 SO(00): Emergency stop input status output
RXn1 SO(01): CPU_OK status output
RXn2 SO(02): Servo ON status output
RXn3 SO(03): Alarm status output
RXn8 SO(10): AUTO mode status output
RXn9 SO(11): Return-to-origin complete status output Turns ON when robot has completed return-to-origin.
Chapter
RXnA SO(12): Sequence program execution status output Turns ON while sequence program is executed.
5
RXnB SO(13): Robot program execution status output Turns ON while robot program is executed.
RXnC SO(14): Program reset status output
RXnD SO(15): Battery alarm output
RXnE SO(16): IO command execution judgment output
RXnF SO(17): Output during IO command execution Turns ON while the IO command is being executed.
RX(n+1)0
to SO(20) to SO(27): General-purpose output
RX(n+1)7
to
RX(n+6)8
to SO(150) to SO(157): General-purpose output
RX(n+6)F
RX(n+7)8 Initial data process request flag
RX(n+7)B Remote ready
c
CAUTION
• Battery alarm output (SO(15)) is only supported by the RCX221/222 series.
• When the area check output function is used, the area check outputs can be
assigned to general-purpose outputs SO(20) to SO(27).
5-4
Signal name
to
n: Address assigned to master module with station No. setting
Details
Turns ON when robot controller is in emergency stop state.
Turns ON when robot controller is in normal state.
Turns ON when robot controller motor power is ON.
Turns ON when robot controller is in following state:
• Serious error occurred in robot controller.
• Emergency stop input OFF
Turns ON when selected mode is AUTO mode.
Turns OFF when other mode is selected.
Turns ON when robot program has been reset.
Turns OFF when robot program starts.
Turns ON when the system backup battery (RCX221/222)
or absolute battery (RCX222) is low.
Turns OFF while executing the IO command.
After executing the IO command turns ON if normal, and
stays OFF if abnormal.
General-purpose output turns ON/OFF when value is
substituted to SO port, or SET/RESET command is
executed or OUT command is executed.
The initial data process request flag turns ON to request
the initial data setting when the power is turned ON, or
when returning from a communication error.
Turns OFF when initial data process is completed (initial
data process complete flag RY(n+7)8 turns ON).
Turns ON when initial data setting is completed and
READY state is entered when power is turned ON or
when returning from communication error.