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1. Profile
1.2
When IO size is set to "Small"
● Bit input/output
Channel
bit
No.
0
1
2
3
4
5
Chapter
5
6
7
8
(mCH)
9
10 sO(12)
11 sO(13)
12 sO(14)
13 sO(15)
14 sO(16)
15 sO(17)
0
to
7
(m+1CH)
8
to
15
*1: Used for "absolute reset" or "absolute reset / return-to-origin" depending on parameter (DI17 mode) setting.
5-4
Slave → Master
Signal name
Emergency stop input status
sO(00)
output
sO(01)
CPU_Ok status output
sO(02)
servo ON status output
sO(03)
Alarm status output
Reserved
Reserved
Reserved
Reserved
sO(10)
AUTO mode status output
Return-to-origin complete
sO(11)
status output
sequence program execution
status output
Robot program execution
status output
Program reset status output
Battery alarm output
IO command execution
judgment output
Output during IO command
execution
sO(20)
to
General-purpose output
sO(27)
sO(30)
to
General-purpose output
sO(37)
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)
(nCH)
9
sI(11)
10 sI(12)
11 sI(13)
12 sI(14)
YRC
13 sI(15)
14 sI(16)
15 sI(17)
YRC
0
sI(20)
to
to
7
sI(27)
(n+1CH)
8
sI(30)
to
to
15
sI(37)
m : Input-area head CH number assigned to master module
n : Output-area head CH number assigned to master module
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
General-purpose input
General-purpose input
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