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Ａ
Auto Mode (Output) ............................................ 28,
Ｃ
CAL Complete (Output) ............................................
Clear Robot Failure (Input) .....................................
Command and Data Areas .........................................
Command Execution I/O Signals Dedicated to Standard
Mode..........................................................................
Command Processing Complete (Output) .................
Compatible Mode .......................................... 14, 23,
Connector Pin Assignment and I/O Circuits (PNP type)
.................................................................................
Connector Pin Assignment I/O Circuits (NPN type) .....
.................................................................................
Continue Start (Input) ..............................................
Continue Start Permitted (Output)....................... 36,
Control System Configuration ...................................
Controller I/O Circuits..................................... 116,
Controller I/O Connectors ............................... 128,
Controller Specifications .............................................
Ｄ
Dead Battery Warning (Output)........................... 35,
Ｅ
Emergency Stop (Output from a contact) ............ 37,
Emergency Stop Output Circuit....................... 124,
Enable Auto (Input) ............................................. 39,
Error No. (Output) .....................................................
Error Read .................................................................
External Mode (Output)....................................... 29,
External Speed and Acceleration Setting...................
Ｈ
HAND I/O CN9: Connector for end-effector I/O
(common to both modes) ................................. 110,
Hand-Input Circuits ......................................... 118,
Hand-Output Circuits....................................... 122,
Ｉ
I/O Commands...........................................................
I/O POWER CN7: Power connector for I/O
(common to both modes) .................................111,
I/O Power Connector ....................................... 126,
I/O Read.....................................................................
I/O Signals .................................................................
I/O Type Variable.......................................................
I/O Wiring................................................................
Index
71
I/O Write ....................................................................
INPUT CN8: User-/System-input connector
(compatible mode) ........................................... 115,
INPUT CN8: User-/System-input connector
73
(standard mode) .............................................. 113,
103
Instantaneous Stop (All Tasks) (Input) .............. 42,
48
Interface .....................................................................
Interrupt Skip (Input) ......................................... 43,
45
50
Ｍ
69
Mode Switching.........................................................
130
Ｎ
110
Normal CPU (Output).......................................... 32,
105
NPN type .................................................................
84
12
Ｏ
136
Operation Preparation Start (Input)............................
148
OUTPUT CN10: User-/System-output connector
7
(compatible mode) ........................................... 114,
OUTPUT CN10: User-/System-output connector
(standard mode) ............................................... 112,
82
Ｐ
PNP type ..................................................................
Processing I/O Commands.........................................
85
Program No. Select (Input) ........................................
144
Program Operation Command ...................................
87
Program Reset (Input)................................................
83
Program Start (Input) .................................................
57
Program Start Reset (Output).....................................
74
56
Ｒ
Robot Controller Components .....................................
Robot Controller I/O Connectors.............................
130
Robot Failure (Output)......................................... 33,
138
Robot Initialization Complete (Output) .....................
142
Robot Power ON Complete .......................................
Robot Stop (Input) .....................................................
Robot Stop and Enable Auto Input Circuits..... 119,
52
Robot Warning (Output) ...................................... 34,
Robot-in-operation (Output) ................................ 31,
131
RS232C....................................................................
146
RS232C CN1: RS232C connector ...........................
64
22
24
150
63
135
133
102
14
104
60
79
110
88
134
132
130
46
90
53
98
92
76
4
148
80
27
70
40
139
81
77
111
131
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