Yamaha RCX Series User Manual

a) b) c) d) 

e) 

f) 

g) 

h) 

i) 

on

on

off

on

off

on

off

on

off

off

RXn8:SO(10)

AUTO mode status 
output

RXn9:SO(11)

Origin return complete 
status output

RXnB:SO(13)

Robot program execution 
status output

RYn9:SI(11)

Interlock input

RYnA:SI(12)

Robot program start 
input

100ms or more

a) Robot program start input ON is input

b) Robot program execution status output ON is output

c) After confirming that the robot program execution status output is ON, the start

input OFF is input

d) Interlock input OFF is input

e) Robot program execution status output OFF is output

f) Interlock input ON is input

g) Robot program start input ON is input

h) Robot program execution status output ON is output

i) After confirming that the robot program execution status output is ON, the start

input OFF is input

* The program will also stop when the emergency stop input OFF is input. In this case,

the emergency stop input status and alarm status output ON will be output, and the
servo ON status output OFF will be output. The servo ON process is required to start
the program again.

*

When SAFE mode is enabled, dedicated inputs other than SI (00) and SI (11) might be
disabled depending on service mode parameter setting unless service mode input sig-
nal is set to ON with SI (02) in the CC-Link system.

c