External Control (I/O / Fieldbus) 33 DESKTOP ROBOT JR3000
3.
SYSTEM INPUT/OUTPUT FUNCTIONS
3.1
Input
•
Start (#sysIn1)
Turn ON this signal when you want to start or restart a program in External Run Mode. In
addition, this signal is also used for moving to the work home position coordinates. This signal
is enabled when Ready for Start (#sysOut1) is ON.
When in External Run Mode, the Start (#sysIn1) signal starts, or restarts running programs
with the robot under any of the following conditions when the I/O-S input is ON and start is not
inhibited by Start Inhibition (#sysIn2):
1.
Waiting for program start at the work home position.
2.
Waiting for restart after a temporary stop.
3.
Waiting for start according to a point job
waitStart
command.
A Start (#sysIn1) signal with a pulse of 20 msec or less is invalid due to noise elimination.
A pulse width of 30 msec or wider is useable, however, rather than using time to establish the
signal, we recommend using the action of the Ready for Start (#sysOut1) signal turning OFF as
an acknowledgment signal (ACK signal). When waiting to start as described above, the Ready for
Start Signal (#sysOut1) comes ON.
The Ready for Start (#sysOut1) turns OFF when the Start (#sysIn1) turns ON.
•
Free (#sysIn2, #sysIn13 – 16)
The default for the #sysIn2, #sysIn13 – 16 signals is Free.
These signals are useable as free signals unless their functions are changed in [I/O-SYS
Function Assignment].
Start (#sysIn1)
Ready For Start (#sysOut1)
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