Denso RC5 Specifications download pdf (Page 116)

 Example of program start signal fall (OFF) timing

a) The following figure shows how to make the program start signal fall

with a robot system output (program start reset output).

When the robot program starts to run, a program start reset signal is

output. The external device receives it and makes the program start

signal fall (OFF).

Robot status

Wait for start

or preceding cycle

Single-cycle operation

Program start ON

reset (output) OFF

Program start ON (shorted)

signal (input) OFF (open)

Example of Program Start Signal Fall Timing-1

b) The figure below shows how to make the program start signal fall with

the simplified method (1 shot method using a timer).

Robot status

Wait for start

Single-cycle operation

Program start ON (shorted)

signal (input) OFF (open)

50 ms. or more re

uired

Example of Program Start Signal Fall Timing-2

Caution  Although the 1 shot method is easy, the timer setting for

falling to raise the program start signal in the middle of the

preceding cycle is difficult.

Use this method only to raise the program start signal after

the robot stops at the end of each cycle.

 The status of the robot-in-operation, program start reset and

single cycle end output signals changes in sequence after

the program start signal is input (T1→T2→T3 in the figure

given on the next page).

The change of the status of these signals takes place within

100 msec. after the program start signal rises (ON). See the

next page.

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Denso RC5 Specifications Page 116