Denso RC5 - Manual (Page 116)

96
R R R R Example of program start signal fall (OFF) timing
a) The following figure shows how to make the program start signal fall
with a robot system output (program start reset output).
When the robot program starts to run, a program start reset signal is
output. The external device receives it and makes the program start
signal fall (OFF).
Robot status
Wait for start
or preceding cycle
Single-cycle operation
Program start ON
reset (output) OFF
Program start ON (shorted)
signal (input) OFF (open)
Example of Program Start Signal Fall Timing-1
b) The figure below shows how to make the program start signal fall
with the simplified method (1 shot method using a timer).
Robot status
Wait for start Single-cycle operation
Program start ON (shorted)
signal (input) OFF (open)
50 ms. or more required
Example of Program Start Signal Fall Timing-2
Caution
Q Q Q Q Although the 1 shot method is easy, the timer setting for
falling to raise the program start signal in the middle of the
preceding cycle is difficult.
Use this method only to raise the program start signal after
the robot stops at the end of each cycle.
R R R R The status of the robot-in-operation, program start reset
and single cycle end output signals changes in sequence
after the program start signal is input (T
1
→ → → →
T
2
→ → → →
T
3
in the
figure given on the next page).
The change of the status of these signals takes place within
100 msec. after the program start signal rises (ON). See the
next page.