Yamaha SRCP - Manual (Page 36)

3-
8
3
I/O INTERF
ACE
3-3 Output Signal Description
3-3 Output Signal Description
The output signals consist of 3 dedicated outputs (READY, BUSY and END), 5 general-purpose
outputs, and feedback pulse outputs. In this section, terms "ON" and "OFF" mean the output transis-
tors are "on" and "off".
3-3-1 Dedicated output
The dedicated outputs are used for exchanging signals between the SRCP controller and an external
device such as a PLC.
■ Ready-to-operate output (READY)
This output is on as long as the SRCP controller system is in normal operation. If an emergency
stop or alarm occurs, then this output turns off to let the motor idle.
• When emergency stop was triggered:
The READY signal turns on again when emergency stop is cancelled.
Operation can be restarted by input of the servo recovery command (SERVO) after canceling
emergency stop.
• When an alarm was issued:
If the READY signal is off while the robot is not in emergency stop, this means that an alarm
was issued. If this happens, correct the problem while referring to Chapter 13, "Troubleshoot-
ing".
In this case, the SRCP controller should be turned off before attempting to restart operation.
■ Command-in-progress output (BUSY)
The BUSY signal is on during execution of a dedicated command input or a command from the
TPB or PC. The BUSY signal turns on when the SRCP controller accepts a dedicated command
input. The dedicated command input should be turned off (contact open) when the BUSY signal
turns on. The BUSY signal turns off when command execution is complete. (At this point, all the
dedicated command inputs must be turned off (contact open).)
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CAUTION
The dedicated command input must be a pulse input so that it is off when the BUSY signal turns on. If the
command input is left on, the BUSY signal cannot turn off even after the command execution is complete.
As long as the BUSY signal is on, the SRCP controller will not accept other dedicated command inputs or
commands from the TPB or PC. Avoid operating the TPB while the SRCP controller is being operated through
the I/O interface. (Doing so might cause malfunctions during data exchange with a PLC or cause communica-
tion errors on the TPB side.)
■ End-of-run output (END)
The END signal turns off when a dedicated command input is received and turns on when com-
mand execution is complete. The END signal remains off if an error occurs or an interlock or
emergency stop is triggered during command execution.
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CAUTION
When a reset command or a movement command specifying a very small amount of movement is used, the
command execution time will be very short. In other words, the period that the END signal is off will be very
short (1ms or less in some cases).
The END signal does not change by operation from the TPB or PC.
n
NOTE
The PRM34 (system mode selection parameter) setting can be changed so that the execution result END signal
output for the completed dedicated command occurs only after the dedicated command input turns off. (See section
5-2 "Parameter Description".)