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3-2 Input Signal Description

3-2Input Signal Description

Input signals consist of 7 dedicated command inputs, 16 general-purpose inputs, interlock signalsand an emergency stop input.*DI15 functions as the SERVICE mode input when the SERVICE mode function is enabled. Inthis case, 15 general-purpose inputs are available.All input circuits other than the emergency stop input use photocoupler-isolated input circuit specs.Only the emergency stop input circuit uses contact point input circuit specs. This contact point is directly connected to the relay coil that turns the internal motor power supply on and off.

robot controller DRCX - 24902 3

I/O INTERFACE

3-2-1Dedicated command input

The dedicated command input is used to control the DRCX controller from a PLC or other external equipment. To accept this input, the READY, BUSY and LOCK signals must be set as follows. â–  READY signal: ON â–  BUSY signal: OFF â–  LOCK signal: ONIf the above conditions are not satisfied, then dedicated command inputs cannot be accepted even ifthey are input from external equipment. For example, when the BUSY signal is on, this means that the controller is already executing a dedicated command, so other dedicated commands are ignored even if they are input. When the LOCK signal is off, no other commands can be accepted since an interlock is active. (One exception is the reset and servo recovery commands that can be executed even when the LOCK signal is off as long as the READY and BUSY signals meet the above condi- tions.)A dedicated command input is accepted when the dedicated command input is switched from "off" to"on" (at the instant the contact point closes). Whether the controller accepts the command or not can be checked by monitoring the BUSY signal. Note that dedicated command inputs cannot be used as data in a program.

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CAUTIONThe dedicated command inputs explained below must always be pulse inputs. In other words, they must be turned off (contact open) after the BUSY signal turns on. If a dedicated command input is not turned off, then the BUSY signal will remain on even when the command has ended normally. So the next command will not be accepted.

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CAUTIONWhen the SERVICE mode function is enabled, the following safety control will function. (See "10-4 SERVICE mode function" for more details.)•No dedicated commands can be executed in "SERVICE mode state" when command input from other than the TPB is prohibited. 3-

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