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2. Details of input/output signals
Channel No.
Large
(m+17CH)0
to
(m+17CH)7
(m+17CH)8
to
(m+17CH)15
to
(m+22CH)8
to
(m+22CH)15
NOTE
Chapter
• When the area check output function is used, the area check outputs can be assigned to the
5
following general-purpose outputs depending I/O size.
• When the IO size is set to "small", only sO(20) to sO(37) of general-purpose outputs are
available.
● Bit input
Channel No.
Large
(n+16CH)0
(nCH)0
(n+16CH)1
(nCH)1
(n+16CH)2
(nCH)2
(n+16CH)3
(nCH)3
(continued to next page)
5-6
Signal name
Small
(m+1CH)0
sO(20)
to
to
General-purpose output
(m+1CH)7
sO(27)
(m+1CH)8
sO(30)
to
to
General-purpose output
(m+1CH)15
sO(37)
to
to
sO(150)
to
General-purpose output
sO(157)
Signal name
Small
sI(00)
sI(01)
sI(02)
sI(03)
General-purpose output turns ON/OFF when value is
assigned to sO port, or sET/REsET command or OUT
command is executed.
m : Input-area head CH number assigned to master module
Emergency stop
Turn OFF to trigger emergency stop on controller.
input
keep turned ON during normal operation.
Turn ON to cancel emergency stop and turn ON the robot
servo motor.
servo-ON is executed when this input is switched from
servo ON input
OFF to ON.
Emergency stop input [sI(00)] must have been ON, and
emergency stop state in the robot controller (emergency
stop terminal of sAFETY connector, etc.) canceled.
Turn OFF to enter the controller in service mode. keep
turned ON during normal operation.
service mode input
(Effective only when sAFE mode is enabled.)
(In sAFE mode enabled, dedicated input might be
disabled depending on service mode parameter setting.)
Turn ON to execute a step in the program during AUTO
mode.
step execution input
One line of the program is executed when this input is
changed from OFF to ON.
Details
Details
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