3-15
3
I/O INTERFACE
3-6 I/O Control Timing Charts
3-6 I/O Control Timing Charts
The following shows typical timing charts for I/O control. Refer to these diagrams when creating a
sequence program.
3-6-1 When turning the power on
When emergency stop is triggered:
Power supply
READY
END
300ms or more
When emergency stop is canceled:
Power supply
READY
END
500ms or more
When an alarm is issued:
Power supply
READY
END
■ The ERCX initial state depends on whether emergency stop is triggered when the power is
turned on.
When the power is turned on while emergency stop is cancelled, the ERCX controller starts
with the READY signal and also the servo turned on. (Robot is ready to operate in this state.)
In contrast, when the power is on while emergency stop is triggered, the ERCX controller
starts with the READY signal turned off under emergency stop conditions. (Robot operation is
prohibited in this state.)
To enable robot operation, cancel the emergency stop to turn on the READY signal, and then
input a servo recovery command (SERVO).
■ After turning the power on, make sure that the END signal is on before inputting a dedicated
command.
■ If the READY and END signals are still off for more than the specified time after turning the
power on, this means that an alarm has occurred. If that happens, correct the problem while
referring to "13-2 Alarm and Countermeasures".
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