User`s manual

27
CHAPTER2 DeviceNet Unit
2-8 Timing chart
Typical timing charts are shown below, so refer to them when creating the PLC program.
2-8-1 Right after controller power turns on
Normal startup
Power supply
END
10s or less
When alarm has occurred
Power supply
END
■ After power is turned on, the END output turns on when the controller has started up
normally and communication is allowed. So first check that the END output is on
before inputting commands.
■ The robot always sets to servo-off when the controller power is turned on. To oper-
ate the robot, cancel emergency stop by referring to "2-8-2 Custom input command
execution" and then run the SERVO (servo recovery) command.
■ When the END output is off even after the specified amount has elapsed after power-
on, this means that communication is impossible due to a network error or that an
alarm was issued on the controller. To troubleshoot an alarm that occurred on the
controller, refer to "Alarm and Countermeasures" in the controller instruction manual.