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6External input/output functions
Parameter
Class
name
SnSTART
Input
Slot n start input
(n=1 to 32)
Output Slot n in operation out-
(Operation
put
right required)
SnSTOP
Input
Slot n stop input
(n=1 to 32)
Output Slot n in pausing output Outputs that each slot and program is tempo-
MnSRVOFF
Input
Mechanism n servo
(n=1 to 3)
OFF input signal
Output Mechanism n servo ON
disabled output signal
MnSRVON
Input
Mechanism n servo ON
(n=1 to 3)
input signal
(Operation
Output Mechanism n in servo
right required)
ON output signal.
MnMELOCK
Input
Mechanism n machine
(n=1 to 3)
lock input signal
(Operation
right required)
Output Mechanism n in
machine lock output
signal
PRGSEL
Input
Program selection input
(Operation
signal
right required)
Output -
OVRDSEL
Input
Override selection input
(Operation
signal
right required)
Output -
IODATA
Input
Numeric value input
(Start bit number,
end bit number)
Output Numeric value output
(Start bit number,
end bit number)
6-419 Dedicated input/output
Name
Starts each slot. n=1 to 32
Outputs the operating state for each slot. n=1
to 32
Outputs the operating state for each slot. n=1
to 32
rarily stopped.
n=1 to 32
This signal turns OFF the servo for each mech-
anism. n=1 to 3
The servo cannot be turned ON while this sig-
nal is being input.
Outputs the servo ON disabled state. (Echo
back)
Turns the servo for each mechanism ON.
n=1 to 3
Turns the servo for each mechanism ON.
n=1 to 3
Sets/releases the machine lock state for each
mechanism.
n=1 to 3
Outputs that the machine lock state is entered.
n=1 to 3
Designates the setting value for the program
No. with numeric value input signals.
The program for slot 1 is selected. Output this
signal when at least 30 ms has elapsed follow-
ing the start of output to the numerical input
(IODATA). This signal should also be output to
the robot for at least 30 ms.
-
Designates the setting value for the override
with the numeric value input signals.
Output this signal when at least 30 ms has
elapsed following the start of output to the
numerical input (IODATA). This signal should
also be output to the robot for at least 30 ms.
-
Numerical values are read as binary values.
*Program number (Read by the PRGSEL)
If the parameter "PST" is enabled, it is read by
the start signal.
*Override (Read by the OvrdSEL)
The bit width can be set arbitrarily. However,
the accuracy of output values cannot be guar-
anteed when they exceed the set bit width.
Output this input to the robot for at least 30 ms
before inputting the PRGSEL or other setting
signals.
Numerical values are output as binary values.
*Program number (Output by the PRGOUT),
*Override (Output by the OvrdOUT),
*Outputs the line number (output by the LINE-
OUT)
*Error number (output by the ERROUT).
The bit width can be set arbitrarily. However,
the accuracy of output values cannot be guar-
anteed when they exceed the set bit width.
Read this signal when at least 30 ms has
elapsed following the start of input of a pro-
gram number (PRGOUT) or other signal to the
robot.
Function
Edge -1,
Level -1,
Level -1,
Edge -1,
Level -1,
Edge 10020
Edge 10021
Level
Factory shipment signal number.
Signal
Input, output
level
Note1)
CRnQ
-1,
-1
-1
-1,
-1
-1
-1,
-1
-1
-1,
-1
-1
-1,
-1
-1
-1,
-1,
Note2)
Note2)
-1(Start bit),
10032(Start bit),
10047(End bit),
-1(End bit),
10032( Start bit ),
-1(Start bit),
-1(End bit)
10047( End bit )
CRnD
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