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5-8
Specifications
5
3. Dedicated input/output signal timing chart
3.3
AUTO mode changeover, program reset and program execution
a) b)
100ms or more 100ms or more
c) d) e) f) g) h) i)
on
on
off
on
off
on
off
on
on
off
off
on
off
on
off
off
RXn8:SO
(
10
)
AUTO mode status
output
RXn9:SO
(
11
)
Origin return complete
status output
RXnB:SO
(
13
)
Robot program execution
status output
RXnC:SO
(
14
)
Program reset status output
RYn9:SI
(
11
)
Interlock input
RYnA:SI
(
12
)
Robot program start input
RYnB:SI
(
13
)
AUTO mode input
RYnD:SI
(
15
)
Program reset input
AUTO mode changeover process
a) AUTO mode input ON is input
b) AUTO mode status output ON is output
c) After confirming that the AUTO mode status output is ON, the AUTO mode input
OFF is input
Program reset process
d) Program reset input ON is input
e) Program reset status output ON is output
f) After confirming that the program reset status output is ON, the program reset
input OFF is input
Program execution process
g) Robot program start input ON is input
h) Program reset status output OFF is output
Robot program execution status output ON is output
i) After confirming that the robot program execution status output is ON, the robot
program start input OFF is input
* The program cannot be executed if the emergency stop input and interlock input are
OFF.
* If the origin return complete status output is not ON, execution of the program may
not be possible depending on the execution level setting value.
* 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.
c
CAUTION
• The dedicated input ON/OFF
process from the master station
PLC to the controller must be
carried out at an interval of
100ms or more. If the interval is
too short, the dedicated input may
not be recognized. (This also
applies to the same dedicated
input and differing dedicated
input intervals.)
• If dedicated outputs are provided
for the dedicated inputs from the
master station PLC to controller,
use them.