Timing Charts

Input Signal Notes

The timing charts show the timing for the Controller's key operations. Be sure to follow the timing chart when inputting signals.
However, note that the times in the charts are approximate. The time varies depending on the number of Manipulators, the number of tasks running, the Controller's CPU speed, and other factors.
Remote signals should be generated by pulse input, and each input should be designed to avoid overlapping as much as possible.
The pulse width of an input signal should be at least 25 msec, and input with chattering should be avoided.

Timing for Operation Execution Sequence

(Units: msec)

Symbol	Description
a	This depends on the Home motion command.

Timing for Program Execution Sequence

(Units: msec)
* This varies depending on the Quick Pause (QP) setting and the program operation state at PAUSE input.

Timing forf Emergency Stop Sequence

(Units: msec)

(*1) This is the logical signal that indicates the timing of Controller internal processing.
For more information on the input signal names and operation conditions, refer to the following section.
Signal Arrangement and Electrical Specifications