Yamaha RCX Series User Manual page 65

Remote output (RY)
Device No.
RYn0 SI(00): Emergency stop input
RYn1 SI(01): Servo ON input
RYn2 SI(02): Service mode input
RYn3 SI(03): Step execution input
RYn5 SI(05): IO command execution trigger input
RYn8 SI(10): Sequence control input
RYn9 SI(11): Interlock input
RYnA SI(12): Robot program start input
RYnB SI(13): AUTO mode input
[RCX141/221]
SI(14): Absolute reset input
* For YC-Link where RCX141/221 is used with
SR1-X
RYnC
[RCX142/222]
SI(14): Return-to-origin input
* For YC-Link where RCX142/222 is used with
SR1-P
RYnD SI(15): Program reset input
RYnE SI(16): MANUAL mode input
(continued to next page)
Signal name
n: Address assigned to master module with station No. setting
2. Details of remote input/output signals
Details
Turn OFF to trigger emergency stop on controller.Keep
turned ON during normal operation.
Turn ON to cancel emergency stop and turn ON the robot
servo motor.
Servo-ON is executed when this input is switched from
OFF to ON.
Emergency stop input [SI(00)] (RYn0) must be ON and
emergency stop conditions in the robot controller
(emergency stop terminal of SAFETY connector, etc.)
must be canceled.
Turn OFF to enter the controller in service mode. Keep
turned ON during normal operation.
(Effective only when SAFE mode is enabled.)
(In SAFE mode enabled, dedicated input might be
disabled depending on service mode parameter setting.)
Turn ON to execute a step in the program during AUTO
mode.
One line of the program is executed when this input is
changed from OFF to ON.
Turn from OFF to ON to execute IO command.
Always turn ON after IO command is set to general-
purpose input.
Turn ON to execute sequence program in the robot
controller.
Sequence program is executed when this input is ON.
Turn OFF to stop execution of robot program.
Keep tuned ON to continue program execution.
Turn ON to execute robot program.
Robot program is executed when this input is switched
from OFF to ON.
Robot controller must be in AUTO mode.
Turn ON to select AUTO mode.
Robot program enters AUTO mode when this input is
switched from OFF to ON.
Turn ON to perform absolute reset of robot.
Absolute reset is performed when this input is switched
from OFF to ON, except for axes that use mark method
for return-to-origin. Absolute reset cannot be performed
by dedicated input if return-to-origin is incomplete on
axes that use mark method.
Robot controller mode must be in MANUAL mode.
Turn ON to perform return-to-origin on incremental mode
axes or semi-absolute mode axes.
When this input is switched from OFF to ON, return-to-
origin is performed on incremental mode axes or absolute
search is performed on semi-absolute mode axes.
Robot controller mode must be in MANUAL mode.
Turn ON to reset robot program.
Program reset is executed when this input is switched
from OFF to ON.
Robot controller must be in AUTO mode.
Turn ON to select MANUAL mode.
Robot program enters MANUAL mode when this input is
switched from OFF to ON.
Chapter
5
5-5