Yamaha SRCP Instrukcja Użytkownika Pobierz pdf (Strona 18)

3 -8

Setup

■ Signal timing

● Power-ON to pulse input

Power input for I/O

(24V, 24G)

Main power supply

(L, N)

Alarm output

(ALM)

Servo ON input

(SERVO)

Positioning completed

output (IN-POS)

Servo ready

output (SRDY)

200ms to 2 sec*

OFF

• Power input for I/O must always be set to ON before turning on main power supply.

• Pulse inputs can be accepted when Servo ready (SRDY) is ON.

• Duration from Servo-ON input to pulse ready output may change due to robot model or

operating status.

● Return to origin

OFF

Positioning completed

output (IN-POS)

Return-to-origin input

(ORG-S)

Servo ready output

(SRDY)

30ms max.

• On the PHASER series, the magnetic pole is also detected during return-to-origin.

• Pulse input is disabled during return-to-origin,

• Always make sure the robot is in stop before starting return-to-origin,

● Alarm output and reset

OFF

Servo ready output

(SRDY)

Alarm output

(ALM)

Alarm reset input

(RESET)

1ms or less

130ms or more

• Some alarms can be cancelled by an alarm reset input and some cannot. For more details,

refer to "6-2 Alarm list".

• In normal mode, alarm can only be canceled by turning the power off and then on again.

3-2 I/O specifications and wiring

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Yamaha SRCP Instrukcja Użytkownika Strona 18

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