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1. Profile
CAUTION
• ExPLANATIONs ARE GIvEN BAsED ON THE CHANNELs FOR THE OMRON MAsTER
MODULE. REFER TO THE REsPECTIvE MANUALs WHEN UsING OTHER MAsTER
MODULE BRANDs.
NOTE
The IO size can be set by option board parameter. Refer to section 6 of chapter 2 for more details.
1.1
When IO size is set to "Large"
OMRON robot controller
● Bit input/output
Slave → Master
Channel
bit
Signal name
No.
Emergency stop input status
0
sO(00)
output
1
sO(01)
CPU_Ok status output
2
sO(02)
servo ON status output
3
sO(03)
Alarm status output
4
Reserved
5
Reserved
6
Reserved
7
Reserved
8
sO(10)
AUTO mode status output
(m+16CH)
Return-to-origin complete
9
sO(11)
status output
sequence program execution
10 sO(12)
status output
Robot program execution
11 sO(13)
status output
12 sO(14)
Program reset estatus output
13 sO(15)
Battery alarm output
IO command execution
14 sO(16)
judgment output
Output durion IO command
15 sO(17)
execution
(continued to next page)
Master → Slave
Channel
bit
No.
0
sI(00)
1
sI(01)
2
sI(02)
3
sI(03)
4
5
sI(05)
6
7
8
sI(10)
(n+16CH)
9
sI(11)
10 sI(12)
11 sI(13)
12 sI(14)
YRC
13 sI(15)
14 sI(16)
15 sI(17)
YRC
1. Profile
Signal name
Emergency stop input
servo ON input
service mode input
step execution input
Reserved
IO command execution
trigger input
Reserved
Reserved
sequence control input
Interlock input
Robot program start input
AUTO mode input
Return-to-origin input
Program reset input
MANUAL mode input
Absolute reset / Return-to-
origin input *1
5-1
Chapter
5
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