Compatible Mode; Types And Functions Of System Output Signals (Compatible Mode) - Denso RC5 Interface Manual

System I/O Signals
4.1 Types and Functions of System Output Signals (Compatible
Mode)
Types and Functions of System Output Signals to be Used in Compatible Mode
Application
Start-up
Program
pre-execution check
Program execution
Program end
Error/warning
Continue start
Safe start function
Emergency stop
Chapter 4
The table below lists the system output signals used in the compatible mode.
Signal name
Robot power ON
complete
Auto mode
Servo ON
CAL complete
External mode
Teaching
Program start reset
Robot-in-operation
Continue start
permitted
Single cycle end
Normal CPU
Robot failure
Robot warning
Dead battery warning
Error No.
Continue start permitted
SS mode
Emergency stop

Compatible Mode

Outputs when preparations for operation are ready
to start.
Outputs when the robot is in auto mode.
Outputs when the power to the motor is turned ON.
Outputs when calibration is completed.
Outputs when the robot is in external mode.
Outputs when the robot is in manual or teach check
mode.
Outputs when execution of the program starts in
response to the program start signal received.
Outputs when the robot is in operation (the program
is being executed).
Outputs when the continue start is permitted.
Outputs when the program completes a cycle.
Outputs when the CPU (hardware) of the Robot
Controller is normal.
Outputs when a failure (such as a servo failure and
program error) occurs in the robot.
Outputs when a slight error occurs.
Outputs when the voltage of the encoder backup
battery or memory backup battery lowers.
An error number will be outputted in BCD code if an
error occurs.
Outputs when Continue Start is enabled.
Outputs when the robot is in SS mode. Refer to the
SETTING-UP MANUAL, Chapter 3, Subsection 3.4.6
"SS (Safe Start) Function."
Outputs from a contact exclusively designed for an
emergency stop circuitry.
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Function