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5-9
5
Specifications
3. Dedicated input/output signal timing chart
3.4 Stopping with program interlock
a) b)
c) d) e) f) g) h) i)
on
on
off
on
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
RYn9:SI
(
11
)
Interlock input
RYnA:SI
(
12
)
Robot program start
input
100ms or more
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
g) Robot program start input ON is input
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 sig-
nal 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.