Profile - Yamaha RCX Series User Manual

1. Profile

YAMAHA robot controller (4-station occupying)
Remote input/output
Remote → Master
Device No.
RXn0 SO(00): Emergency stop input status output RYn0
RXn1 SO(01): CPU_OK status output
RXn2 SO(02): Servo ON status output
RXn3 SO(03): Alarm status output
RXn4
RXn5
System area [for future expansion]
RXn6
RXn7
RXn8 SO(10): AUTO mode status output
RXn9 SO(11): Return-to-origin complete status output RYn9
RXnA SO(12): Sequence program execution status output RYnA
RXnB SO(13): Robot program execution status output RYnB
RXnC SO(14): Program reset status output
RXnD SO(15): battery alarm output *1
RXnE SO(16): IO command execution judgment output RYnE
RXnF SO(17): Output during IO command execution RYnF
RX(n+1)0
to SO(20) to SO(27): General-purpose output
RX(n+1)7
RX(n+1)8
to SO(30) to SO(37): General-purpose output
RX(n+1)F
RX(n+2)0
to SO(40) to SO(47): General-purpose output
RX(n+2)7
RX(n+2)8
to SO(50) to SO(57): General-purpose output
RX(n+2)F
RX(n+3)0
to SO(60) to SO(67): General-purpose output
RX(n+3)7
(continued to next page)
Signal name
Master → Remote
Device No. Signal name
SI(00): Emergency stop input
RYn1 SI(01): Servo ON input
RYn2 SI(02): Service mode input
RYn3 SI(03): Step execution input *1
RYn4 System area [for future expansion]
RYn5 SI(05):IO command execution trigger input
RYn6
System area [for future expansion]
RYn7
RYn8 SI(10): Sequence control input
SI(11): Interlock input
SI(12): Robot program start input
SI(13): AUTO mode input
SI(14): Absolute reset input
(RCX141/221) *2
RYnC
SI(14): Return-to-origin input
(RCX142/222) *3
RYnD SI(15): Program reset input
SI(16): MANUAL mode input
SI(17): Return-to-origin input
(RCX141/221)
SI(17): Absolute reset input
(RCX142/222)
RY(n+1)0
to SI(20) to SI(27): General-purpose input
RY(n+1)7
RY(n+1)8
to SI(30) to SI(37): General-purpose input
RY(n+1)F
RY(n+2)0
to SI(40) to SI(47): General-purpose input
RY(n+2)7
RY(n+2)8
to SI(50) to SI(57): General-purpose input
RY(n+2)F
RY(n+3)0
to SI(60) to SI(67): General-purpose input
RY(n+3)7

1. Profile

Chapter
5
5-1