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5.12 About the hand type ............................................................................................................ 5-372
5.13 About default hand status ................................................................................................... 5-373
5.14 About the output signal reset pattern .................................................................................. 5-374
5.15 About the communication setting ........................................................................................ 5-376
5.16 Hand and Workpiece Conditions (optimum acceleration/deceleration settings) ................. 5-377
5.17 About the singular point adjacent alarm .............................................................................. 5-379
5.18 About ROM operation/high-speed RAM operation function ................................................ 5-380
5.19 Warm-Up Operation Mode .................................................................................................. 5-390
5.20 About singular point passage function ................................................................................ 5-397
5.21 About the impact detection function .................................................................................... 5-402
(1) Overview of the function ............................................................................................... 5-402
(2) Applicable models ........................................................................................................ 5-403
(3) Related parameters ...................................................................................................... 5-403
(4) How to use the impact detection function ..................................................................... 5-404
6 External input/output functions .................................................................................................... 6-408
6.1 Types .................................................................................................................................... 6-408
6.2 Sequencer link I/O function .......................................................................................................................................... 6-409
6.2.1 Parameter setting ..................................................................................................................................................... 6-409
(1) Sequencer CPU parameter setting ................................................................................................................ 6-409
(2) Robot CPU parameter setting .......................................................................................................................... 6-409
6.2.2 CPU shared memory and robot I/O signal compatibility ........................................................................ 6-411
6.2.3 Sequence ladder example ...................................................................................................................................... 6-411
6.2.4 Assignment of the dedicated I/O signal. (at factory shipping) .............................................................. 6-413
6.2.5 Comparison of the I/O point of the CRnQ700 and the CRn500 series ............................................. 6-415
6.3 Dedicated input/output .......................................................................................................... 6-416
6.4 Enable/disable status of signals ............................................................................................ 6-423
6.5 External signal timing chart ................................................................................................... 6-424
6.5.1 Individual timing chart of each signal .............................................................................. 6-424
6.5.2 Timing chart example ..................................................................................................... 6-431
(1) External signal operation timing chart (Part 1) ............................................................. 6-431
(2) External signal operation timing chart (Part 2) ............................................................. 6-432
(3) Example of external operation timing chart (Part 3) ..................................................... 6-433
(4) Example of external operation timing chart (Part 4) ..................................................... 6-434
6.6 Emergency stop input ........................................................................................................... 6-435
6.6.1 Robot Behavior upon Emergency Stop Input ................................................................. 6-435
6.7 Display unit (GOT1000 Series) connection (reference) .................................................................................... 6-436
(1) Usage example ........................................................................................................................................................ 6-436
(2) Specifications .......................................................................................................................................................... 6-436
(3) Connection ................................................................................................................................................................ 6-437
(4) Settings ...................................................................................................................................................................... 6-438
7.1 Configuration flag ..................................................................................................... Appendix-440
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