Yamaha RCX Series User Manual

SO (00): Emergency stop input status output
SO (01): CPU_OK status output
SO (02): Servo ON status output

SO (03): Alarm status output

SO (10): AUTO mode status output

SO (11): Origin return complete status output
SO (12): Sequence program execution status output
SO (13): Robot program execution status output

SO (14): Program reset status output

SO (15): Battery alarm output

SO (16): IO command execution judgment output

SO (17): Output during IO command execution

SO(20) to SO(27): General-purpose output

 to

SO(150) to SO(157): General-purpose output

Initial data process request flag

Remote station ready

RXn0
RXn1
RXn2

RXn3

RXn8

RXn9
RXnA
RXnB

RXnC

RXnD

RXnE

RXnF
RX(n+1)0
       to
RX(n+1)7

       to

RX(n+6)8
       to
RX(n+6)F

        
RX(n+7)8

RX(n+7)B

Device No.

Signal name

Details

Turns ON when robot controller is in emergency stop state.
Turns ON when robot controller is in normal state.
Turns ON when robot controller motor power is ON.
Turns ON when robot controller is in following state:
  • Serious error occurred in robot controller.
  • Emergency stop input OFF
Turns ON when selected mode is AUTO mode.
Turns OFF when other mode is selected.
Turns ON when robot has complete origin return.
Turns ON while sequence program is executed.
Turns ON while robot program is executed.
Turns ON when robot program has been reset.
Turns OFF when robot program starts.
Turns ON when the system backup battery (all 
models of RCX series) or absolute battery 
(RCX142/222) is low.
Turns OFF while executing the IO command.
After executing the IO command turns ON if 
normal, and stays OFF if abnormal.
Turns ON while the IO command is being executed.

General-purpose output turns ON/OFF when value 
is substituted to SO port, or SET/RESET command 
is executed or OUT command is executed.

The initial data process request flag turns ON to request 
the initial data setting when the power is turned ON, or 
when returning from a communication error.
Turns OFF when initial data process is completed 
(initial data process complete flag RY(n+7)8 turns ON).
Turns ON when initial data setting is completed and 
READY state is entered when power is turned ON 
or when returning from communication error.

 n: Address assigned to master module with station No. setting