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Channel No.
Large
Small
(n+16CH)5
(nCH)5
(n+16CH)8
(nCH)8
(n+16CH)9
(nCH)9
(n+16CH)10
(nCH)10
(n+16CH)11
(nCH)11
(n+16CH)12
(nCH)12
sI(14)
(n+16CH)13
(nCH)13
(n+16CH)14
(nCH)14
Signal name
IO command
sI(05)
execution trigger
input
sequence control
sI(10)
input
sI(11)
Interlock input
Robot program start
sI(12)
input
sI(13)
AUTO mode input
Return-to-origin
YRC
input
sI(15)
Program reset input
MANUAL mode
sI(16)
input
2. Details of input/output signals
Details
Turn from OFF to ON to execute IO command.
Always turn ON after IO command is set to general-
purpose input.
Turn ON to execute sequence program in the robot
controller.
sequence program is executed when this input is ON.
Turn OFF to stop execution of robot program.
keep tuned ON to continue program execution.
Turn ON to execute robot program.
Robot program is executed when this input is switched
from OFF to ON.
Robot controller must be in AUTO mode.
Turn ON to select AUTO mode.
Robot program enters AUTO mode when this input is
switched from OFF to ON.
Turn ON to perform return-to-origin on incremental type
axes or semi-absolute type axes.
When this input is switched from OFF to ON, return-to-
origin is performed on incremental type axes or absolute
search is performed on semi-absolute type axes.
This input is for axes whose return-to-origin method is
sensor or stroke-end (torque detection) method.
Robot controller mode must be in MANUAL mode.
Turn ON to reset robot program.
Program reset is executed when this input is switched
from OFF to ON.
Robot controller must be in AUTO mode.
Turn ON to select MANUAL mode.
Robot program enters MANUAL mode when this input
is switched from OFF to ON.
Chapter
5
5-7
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