Return-To-Origin - Yamaha RCX221 User Manual

1.9.3 Return-to-origin

■ Return-to-origin
DI00 Emergency stop
(in SAFETY
ready signal
connector)
DO00 Emergency stop
contact monitor
DO02 Servo-on state
DO03 Alarm
DO10 AUTO mode
DI11 Interlock input
(in SAFETY
connector)
DI17 ABS reset
DO11 Return-to-origin complete
Return-to-origin operation
Absolute search operation
• To perform return-to-origin, DI00 (Emergency stop ready signal) and DI11 (Interlock
input) must be on, and the robot servo must also be on.
• When DO11 (Return-to-origin complete output) is on, return-to-origin does not
have to be performed.
• The "on" period of DI17 (ABS reset) input pulse must be longer than 10msec.
• DO11 (Return-to-origin complete output) turns off (return-to-origin incomplete
state) when the robot starts return-to-origin or absolute search operation. After
that, if the return-to-origin or absolute search operation is interrupted before it
is complete due to interlock or emergency stop, then the robot status comes to
"return-to-origin incomplete".
• If DI11 (Interlock input) is turned off while return-to-origin is being performed on
an axis whose return-to-origin method is "Stroke end detection", that axis might
stop in contact with the stroke end. This probably causes an error such as overload,
so use caution.
n
NOTE
The DI00 (Emergency stop ready signal) and DI11 (Interlock input) input
terminals are located in the SAFETY connector. See Chapter 6 for detailed
information.
1. Standard I/O interface over view
Conditions: MANUAL mode and servo ON
Chapter
5
5-19