Mitsubishi Electric CR800 Series Instruction Manual page 10

For users operating robots that have not been mounted with an operation panel:
Operation of robot programs such as start-up and shutdown are carried out using external signals
(exclusive input/output signals). This instruction manual is based on key operations on the teaching
pendant and operation in the operation screen of the teaching pendant. Using the parameter set-
tings, please assign exclusive input/output signals that correspond with each operation to general
purpose input/output signals, and operate the robot using signal operations.
The following table details exclusive input/output signals that correspond with the key operations of
the operation panel explained in this manual. Please use this as a reference to assign signals and
operate the robot.
For further details regarding parameters please see the separate instruction manual "Detailed expla-
nations of functions and operations".
Table: Dedicated I/O signals corresponding to the teaching pendant (T/B) operations
T/B operation
Start START
In operation
[STOP] key STOP
Standby
[RESET] key ERRRESET
ERROR lamp
Program reset
SLOTINIT
Program selection PRGSEL
[OVRD ↑ ] key
[OVRD ↓ ] key
Step display
PRGOUT
OVRDSEL
OVRDOUT
LINEOUT
ERROUT
IODATA
Continuous CYCLE
Cycle
[SERVO] key SRVON
SERVO lamp
[SERVO] key SRVOFF
SERVO lamp
Parameter
Class
name
Input Starts a program.
Output Indicates that a program is being executed.
Input Stops a program.
Output Indicates that the program is paused.
Input Releases the error state.
Output Indicates that an error has occurred.
Input Cancels the paused status of the program and brings the exe-
cuting line to the top. Executing a program reset makes it possi-
ble to select a program.
Output Outputs that in the program selection enabled state.
Input Selects the value inputted into the signal assigned to the numer-
ical input as a program number.
Output -
Input Outputs the program number selected to the signal assigned to
the numerical output.
Output Indicates outputting the program number to the numerical out-
put.
Input Sets the value inputted into the signal assigned to the numerical
input as a override.
Output -
Input Outputs the override value to the signal assigned to the numeri-
cal output.
Output Indicates outputting the override value to the numerical output.
Input Outputs the current line number to the signal assigned to the
numerical output.
Output Indicates outputting the current line number to the numerical
output.
Input Outputs the error number to the signal assigned to the numerical
output.
Output Indicates outputting the error number to the numerical output.
Input Reads the program number and the override value as a binary
value.
Output Outputs the program number, line number and override value as
a binary value.
Input Starts the cycle stop.
Output Outputs that the cycle stop is operating.
Input Turns ON the servo power supply.
Output Indicates the servo power supply is ON.
Input Turns OFF the servo power supply.
Output This output indicates a status where the servo power supply
cannot be turned ON. (Echo back)
Function
Default
setting
3,0
0,-1
2,2
-1,-1
-1,
-1,-1
-1,
-1,-1
-1,-1
-1,-1
-1,-1,
-1,-1
-1,-1
4,1
1,-1