Details Of Input/Output Signals - Omron SCARA YRC Series User Manual

2. Details of input/output signals

CAUTION
• ExPLANATIONs ARE GIvEN BAsED ON THE CHANNELs FOR THE OMRON MAsTER
MODULE. REFER TO THE REsPECTIvE MANUALs WHEN UsING OTHER
MANUFACTURERs' MAsTER MODULEs.
• THE NUMBER OF OCCUPIED CHANNELs DIFFERs DEPENDING ON THE IO sIZE
sETTING (LARGE OR sMALL).
NOTE
The IO size can be set by option board parameter. Refer to section 6 of chapter 2 for more details.
● Bit output
Channel No.
Large Small
(m+16CH)0 (mCH)0
(m+16CH)1 (mCH)1
(m+16CH)2 (mCH)2
(m+16CH)3 (mCH)3
(m+16CH)8 (mCH)8
(m+16CH)9 (mCH)9
(m+16CH)10 (mCH)10
(m+16CH)11 (mCH)11
(m+16CH)12 (mCH)12
(m+16CH)13 (mCH)13
(m+16CH)14 (mCH)14
(m+16CH)15 (mCH)15
(continued to next page)
Signal name
Emergency stop input
sO(00)
status output
sO(01) CPU_Ok status output
sO(02) servo ON status output
sO(03) Alarm status output
AUTO mode status
sO(10)
output
Return-to-origin
sO(11)
complete status output
sequence program
sO(12)
execution status output
Robot program
sO(13)
execution status output
Program reset status
sO(14)
output
sO(15) Battery alarm output
IO command execution
sO(16)
judgment output
Output during IO
sO(17)
command execution
2. Details of input/output signals
Details
Turns ON when robot controller is in emergency stop
state.
Turns ON when robot controller is in normal state.
Turns ON when robot controller motor power is ON.
Turns ON when robot controller is in following state:
• serious error occurred in robot controller.
• Emergency stop input OFF
Turns ON when selected mode is AUTO mode.
Turns OFF when other mode is selected.
Turns ON when robot has has completed return-to-origin.
Turns ON while sequence program is executed.
Turns ON while robot program is executed.
Turns ON when robot program has been reset.
Turns OFF when robot program starts.
Turns ON when system backup battery or absolute battery
voltage is low.
Turns OFF while executing the IO command.
After executing the IO command turns ON if normal, and
stays OFF if abnormal.
Turns ON while executing the IO command.
Chapter
5
5-5