Connector Pin Assignment In Compatible Mode - Denso RC5 Interface Manual

5.1.3 Connector Pin Assignment in Compatible Mode

Terminal
Name
number
1 Normal CPU
2 Robot-in-operation
3 Robot failure
4 Auto mode
5 External mode
6 Program start reset
7 Not used.
8 Not used.
9 Robot power ON complete
10 Servo ON
11 CAL complete
12 Teaching
13 Single-cycle complete
14 Dead battery warning
15 Robot warning
16 Continue start permitted
17 Error units bit 0
18 Error units bit 1
19 Error units bit 2
20 Error units bit 3
21 Error tens bit 0
22 Error tens bit 1
23 Error tens bit 2
24 Error tens bit 3
25 Error hundreds bit 0
26 Error hundreds bit 1
27 Error hundreds bit 2
28 Error hundreds bit 3
29 SS mode
30 Not used.
31 Not used.
32 Not used.
33 User output
34 User output
NOTE 1: The optional I/O cable for the above connector consists of twisted pair wires--pairs of #1 and #35,
#2 and #36, #34 and #68.
NOTE 2: The terminal number marked with ( * ) is used only for "Dual emergency stop type".
(1) OUTPUT CN10: User-/System-output connector (compatible mode)
CN10 Pin Assignment, in compatible mode (NPN type)
View from the cable side
Port
number
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
Wire Terminal
color number
Black 35 User output
Brown 36 User output
Red 37 User output
Orange 38 User output
Yellow 39 User output
Black 40 User output
Brown 41 User output
Red 42 User output
Orange 43 User output
Yellow 44 User output
Green 45 User output
Blue 46 User output
Violet 47 User output
Gray 48 User output
Pink 49 User output
Black 50 User output
Black 51 User output
Brown 52 User output
Red 53 User output
Orange 54 User output
Yellow 55 User output
Green 56 User output
Blue 57 Not connected
Gray 58 Not connected
[ Power supply for Robot
Pink *59
stop 1 (Internal +24V) ]
Brown *60 [ Robot stop 1 ]
[ Power supply for Robot
Red *61
stop 2 (Internal +24V) ]
Orange *62 [ Robot stop 2 ]
Yellow *63 [ Emergency stop (+) ]
Green *64 [ Emergency stop (-) ]
Blue 65 Emergency stop 2 (+)
Pink 66 Emergency stop 2 (-)
Black *67 [ Deadman switch (+) ]
Brown *68 [ Deadman switch (-) ]
114
Port
Name
number
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
Wire
color
Pink
Pink
Pink
Pink
Pink
White
White
White
White
White
White
White
White
White
White
Gray
Violet
Violet
Violet
Violet
Violet
Violet
Violet
Violet
Violet
Gray
Gray
Gray
Gray
Gray
Gray
Gray
Blue
Blue