Yamaha RCX Series User Manual page 72

3. Dedicated input/output signal timing chart
Program execution process
a) Robot program start input ON is input
b) Robot program execution status output ON is output
c) After confirming that the robot program execution status output is ON, the start
input OFF is input
Program stop process using interlock input
d) Interlock input OFF is input
e) Robot program execution status output OFF is output
Program execution after stopping program with interlock input
f) Interlock input ON is input
Chapter
g) Robot program start input ON is input
5
h) Robot program execution status output ON is output
i) After confirming that the robot program execution status output is ON, the start
input OFF is input
* The program will also stop when the emergency stop input OFF is input. In this
case, the emergency stop input status and alarm status output ON will be output,
and the servo ON status output OFF will be output. The servo ON process is
required to start the program again.
* When SAFE mode is enabled, dedicated inputs other than SI (00) and SI (11) might
be disabled depending on service mode parameter setting unless service mode input
signal is set to ON with SI (02) in the CC-Link system.
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