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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 return-to-origin 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.
3.4
Stopping with program interlock
RXn8:SO ( 10 )
AUTO mode status
output
RXn9:SO ( 11 )
Return-to-origin complete
status output
RXnB:SO ( 13 )
Robot program execution
status output
RYn9:SI ( 11 )
Interlock input
RYnA:SI ( 12 )
Robot program start
input
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.
3. Dedicated input/output signal timing chart
on
off
on
off
on
off
on
off
on
off
a)
b) c)
d) e)
f)
g) h)
100ms or more
Chapter
5
i)
5-11
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