Execution Of Robot Program; Setting The Dedicated Input/Output; General-Purpose Input/Output - Mitsubishi 2F-DQ535 Instruction Manual

8 Procedures for Starting Operation

8.3. Execution of robot program

8.3.1. Setting the dedicated input/output

Set the dedicated input/output as shown below. After changing the parameters, turn the power OFF and
ON once.
Refer to the separate "Instruction Manual, Detailed Explanation of Functions and Operations" for details
on the settings.
Parameter
name
IOENA
START
STOP2
SLOTINIT
SRVON
SRVOFF

8.3.2. General-purpose input/output

The general-purpose inputs and outputs can be accessed with the I/O system variables such as M_In
and M_Out.
Note that when accessing multiple bits with a variable such as M-Inb, M_Inw, M_Outb or M_Outw, the
access cannot extend over an area used by CC-Link IE Field, such as the number 5999. Always create
the program to fit within the area between 6000 and 8047.
Correct example) M_In(6000), M_Inb(6010), M_Out(7000), M_Outb(7010), etc.
Incorrect example) M_Inb(5999), M_Inw(9070), M_Outb(5999), M_Outw(5999), etc.
8-36 Execution of robot program
Table 8-2 Setting the dedicated input/output
Input
Meaning
Operation rights enable
Program start
Stop
Program reset
Servo power ON
Servo power OFF
Output
No. Meaning
6000 Operation rights enabled
6001 Program starting
6002 Stopping
6003 Program selection enabled 6003
6004 Servo ON
6005
No.
6000
6001
6002
6004