Dedicated Input Signal Description - Yamaha RCX240 User Manual

1.6

Dedicated input signal description

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NOTE
If two or more dedicated inputs are supplied simultaneously or the pulse width of
input signals is too short, the input signals might not be recognized. Be sure to
provide an interval of about 100ms between input pulses when two or more
dedicated inputs are used.
1. DI01 Ser vo ON input
Use to cancel emergency stop and turn on the servo power (servo-on). (However, the
emergency stop input signal contacts must be closed.)
When the DI01 contact is closed (ON), the servo power turns on at the rising edge of the signal
pulse. If an alarm has been issued it is cleared.
• Input signal pulse width: 100ms minimum
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NOTE
In PHASER series robot operation, when the servo is first turned on after power-on,
the robot emits a noise (sound) for 0.5 to 2 seconds during the servo-on process and
then enters a servo-on state. This is normal operation for obtaining the necessary
control information by slightly moving the robot and is not an abnormal condition.
2. DI05 I/O command execution trigger
DI05 is used to execute an I/O command.
When the command code to be executed is assigned to DI2() and command data to DI3() and
DI4(), and the DI05 contact is closed (ON), the I/O command will be executed at the rise of
the signal. Upon receiving the I/O command, the controller executes the required task. The
progress information during the command execution and decision results after the command
execution are output.
• Input signal pulse width: 100ms minimum
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CAUTION
• If a rise of the DI05 is recognized, the robot might begin to move. In this case, the
output signals of DO26 and DO27 will also change.
• When no I/O commands are used, set the "IO cmd (DI05) on STD.DIO/STDPRM"
parameter to "INVALID" by referring to "12.1.5 Other parameters" in Chapter 4.
• For detailed information on I/O commands, refer to the programming manual.
3. DI10 Sequence control
DI10 is used to execute a sequence program.
When the DI10 contact is closed (ON), a sequence program is executed.
DO12 (Sequence program-in-progress) is output while a sequence program is executed.
4. DI11 Interlock
DI11 is used to temporarily stop robot movement during execution of a program or manual
operation of a robot. When the DI11 contact is opened (OFF), the message "Interlock on"
appears and robot operation stops. The program cannot be executed and robot manual
operation is disabled when the DI11 contact is open.
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NOTE
The interlock is always engaged if DC 24V is not being supplied to the STD. DIO
connector. A parameter is available to cancel this status using the software.
1. Standard I/O interface over view
Chapter 6 PARALLEL I/O INTERFACE
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