Omron YRC User Manual

4
I/O interface
4-14
1.11.3 Return-to-origin
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Return-to-origin
Conditions: Servo ON, AUTO mode
Move
Stop
CPU_OK
DO01a
Servo ON output
DO02a
Return-to-origin complete
DO11
Stop
DI06
Return-to-origin
DI14/DI17
Robot axis status
a) b) c)d) e) f) g) h) i)
100 ms or more
on
off
on
off
on
off
on
off
on
off
Return-to-origin
a) Return-to-origin input turns on. (pulse width: 100 ms or more)
b) Robot axis starts moving to origin position.
c) Robot axis reaches origin position and stops moving.
d) Return-to-origin complete output turns on.
Stop during return-to-origin
e) Return-to-origin input turns on (pulse width: 100 ms or more) and return-to-origin complete output turns off.
f) Robot axis starts moving to origin position.
g) Stop input turns off.
h) On-going robot axis movement stops.
i) Stop input turns on.
* When the return-to-origin complete output is on, return-to-origin does not have to be performed.
* Return-to-origin complete output keeps on until performing return-to-origin is required.
* Return-to-origin cannot be executed unless the robot is in the servo on status.
* When the return-to-origin input is on, the return-to-origin complete output is off.
* When turning on the controller with the incremental type axes, the robot enters the return-to-origin incomplete status.
Therefore, the return-to-origin complete output turns off.
* When the robot consists of only the absolute type axes, it starts up in the return-to-origin complete output on status
if the position information alarm does not occur at turning on the controller.
*
When the "DI17 mode" parameter is set to "ABS/ORG", return-to-origin can also be performed with DI17. For description
of DI14 and DI17, refer to "1.9 Dedicated input signal description" in this Chapter.

Omron YRC Specifications

General

Brand	Omron
Model	YRC
Category	Controller
Language	English