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Parameter
Class
name
SRVOFF
Input
Servo OFF input signal This input turns OFF the servo power supply
Output Servo ON disable out-
put signal
AUTOENA
Input
Automatic operation
enabled input
Output Automatic operation
enabled output
CYCLE
Input
Cycle stop input signal Starts the cycle stop.
Output In cycle stop operation
output signal
MELOCK
Input
Machine lock input sig-
(Operation
nal
right required)
Output In machine lock state
output signal
SAFEPOS
Input
Safe point return input
(Operation
signal
right required)
Output In safe point return out-
put signal
BATERR
Input
-
Output Battery voltage drop
OUTRESET
Input
General-purpose out-
(Operation
put signal reset
right required)
Output -
HLVLERR
Input
-
Output High level error output
signal
LLVLERR
Input
-
Output Low level error output
signal
CLVLERR
Input
-
Output Warning level error out-
put signal
EMGERR
Input
-
Output Emergency stop output
signal
Name
for the robot.(Applicable to all mechanisms)
The servo cannot be turned ON while this sig-
nal is being input.
This output indicates a status where the servo
power supply cannot be turned ON. (Echo
back)
Disables automatic operation when inactive. If
this signal is inactive, and the AUTO mode is
entered, E5010 will occur.
This input is used to interlock the operations
via the operation panel with the I/O signals.
Use of this input is not a requirement.
Outputs the automatic operation enabled state.
Outputs that the cycle stop is operating.
Turns OFF when the cycle stop is completed.
Sets/releases the machine lock state for all
mechanisms.
This can be set or released when all slots are
in the program selection state.
Signal level will be set to Level when program
selection is enabled.
Outputs the machine lock state.
This turns On when at least one mechanism is
in the machine lock state. During the machine
lock state, the robot will not move, and pro-
gram operation will be enabled.
Requests the safe point return operation.
This signal initiates a joint interpolation move-
ment to the position set by the parameter
"JSAFE." The speed is determined by the
override setting. Be careful not to interfere with
peripheral devices.
Outputs that the safe point return is taking
place.
-
Outputs that the controller battery voltage is
low. The output is turned off when the control-
ler power supply is reconnected after the bat-
tery replacement.
*The cumulative time where the controller
power supply is turned off exceeds 14600
hours.
The output is turned off if the battery depletion
time is reset.
Resets the general-purpose output signal.
The operation at the input is set with parame-
ters ORST0 to ORST224.
-
-
Outputs that a high level error is occurring.
-
Outputs that a low level error is occurring.
-
Outputs that a warning level error is occurring.
-
Outputs that an emergency stop is occurring.
Function
Level 10011,
Level -1,
Edge 10012,
Level -1,
Edge 10013,
Edge 10015,
6External input/output functions
Factory shipment signal number.
Signal
Input, output
level
Note1)
CRnQ
1,
10011
-1
-1,
-1
-1
-1,
10012
-1
-1,
-1
-1
-1,
10013
-1
-1(
),
-1,
無意
10014
-1
-1,
-1(
)
-1(No meaning)
無意
-1(
),
-1(No meaning),
無意
10016
-1
-1(
),
-1(No meaning),
無意
10017
-1
-1(
),
-1(No meaning),
無意
10018
-1
-1(
),
-1(No meaning),
無意
10019
-1
Dedicated input/output 6-418
CRnD
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