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1.8
General-purpose I/O signals
These general-purpose I/O signals are available to the user and can be connected to
external devices such as sensors, valves and PLC. The I/O status can be checked from the
robot program or sequence program. Any desired value can be output from the general-
purpose outputs.
The area check output can be assigned as follows:
• Controllers prior to Ver. 9.22
DO20 to DO27
• Controllers of Ver. 9.22 onwards
DO20 to DO27, DO30 to DO37, DO40 to DO47, DO50 to DO57, DO60 to
DO67, DO70 to DO77, DO100 to DO107
n
NOTE
If the port used for area check output is the same as that used by the user
program, the output data might change. Do not use the same port.
1.8.1 General-purpose output reset
All the general-purpose output signals are reset in the following cases.
1) When
(RST.DO) is selected in "UTILITY" mode.
2) When any of the following operations was performed without executing a sequence
program or with the sequence execution flag DO reset activated.
■ When compile ended successfully in "PROGRAM" mode.
■ When a program was compiled in "AUTO" mode and the compile ended
successfully.
■ When
(RESET) was executed in "AUTO" mode.
■ When the dedicated input signal DI15 (Program reset input) was turned on in
"AUTO" mode while the program was stopped.
(Refer to "1.7.1 Dedicated input signals" in this chapter.)
■ When either of the following was initialized in "SYSTEM>INIT" mode.
1. Program memory (SYSTEM>INIT>MEMORY>PROGRAM)
2. Entire memory (SYSTEM>INIT>MEMORY>ALL)
■ When the SWI command was executed by
(Reset (off) does not occur if the SWI statement was executed in the program.)
■ When the online commands @RESET, @INIT PGM, @INIT MEM, @INIT ALL,
or @SWI were executed.
■ When the HALT statement was executed in the program.
1. Standard I/O interface over view
(DIRECT) in "AUTO" mode.
Chapter
5
5-15
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