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3 -5

Setup

3-2 I/O specifications and wiring

■ Signal description

Deviation clear input

(PCLR)

Pin No. B2 (I/O.CN) Sequence input

[Function]

• At ON ignores input pulses and clears the deviation counter.

* This signal must be ON at least 1ms or more. A pulse shorter than this may not clear

the counter.

Return-to-origin input

(ORG-S)

Pin No. A3 (I/O.CN) Sequence input

[Function]

• Starts return-to-origin at ON and stops at OFF.

• Return-to-origin is performed by stroke-end torque detection method, in which the robot

stops at the same origin position by reversing the movement after striking the mechanical

stopper.

* Do not use with a system that stops during torque detection. Doing so will cause alarms

and in worst cases will damage the motor. When repeating return-to-origin is unavoid-

able, hold for at least 5 seconds before repeating return-to-origin.

• The return-to-origin direction can be changed with the PRM5 (Return-to-origin direction)

parameter.

* On the PHASER series robots, the magnetic poles are simultaneously detected during

return-to-origin.

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

* Always make sure the robot is in stop before performing return-to-origin,

Alarm reset input (RESET) Pin No. B3 (I/O.CN) Sequence input

[Function]

• Clears the alarm at ON. (Input of 130ms or longer duration is required.)

* Some alarms can only be cleared by turning the power off and then on again.

Servo ON input (SERVO) Pin No. A4 (I/O.CN) Sequence input

[Function]

• Servo turns on at ON and pulse inputs are accepted.

* In the PHASER series, a high pitched noise is heard for about 0.5 to 2 seconds after the

first servo-ON input and then the servo turns on. This noise is produced by moving the

robot a small distance in order to acquire information for controlling the robot and is

not an error.

Command pulse inhibit

input (INH)

Pin No. B4 (I/O.CN) Sequence input

[Function]

• If the servo input is ON, then command pulses are accepted at ON and the robot moves as

to those pulses.

• When this input is set to OFF, the command pulse inputs are disabled, the robot stops and

sets to servo-lock.

• Can be disabled by setting the parameter (PRM69: INH input). (Default setting = disable)

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Yamaha SRCP Manuale Utente Pagina 15

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