Omron SCARA YRC Series User Manual page 71

NOTE
• When the IO size is set to "small", only sI(20) to sI(37) of general-purpose inputs are available.
• When the YRC controller is used with a robot whose axis configuration includes absolute type,
incremental type and/or semi-absolute type axes, and if sI(17) is used for "absolute reset / return-
to-origin", then absolute reset is performed on the absolute reset axis each time return-to-origin is
performed on the incremental type and/or semi-absolute type axes. so, if the robot axis
configuration includes absolute type, incremental type and/or semi-absolute type axes, we
recommend using sI (17) to perform absolute reset and sI(14) to perform return-to-origin.
• Return-to-origin input and absolute reset input can also be executed in AUTO mode by changing
the execution level. Refer to the controller user's manual for more details.
● Word input
Channel No.
Large Small
(nCH)
(n+1CH)
(n+2CH)
(n+3CH)
(n+4CH)
(n+5CH)
(n+6CH)
(n+7CH)
(n+8CH)
(n+9CH)
(n+10CH)
(n+11CH)
(n+12CH)
(n+13CH)
(n+14CH)
(n+15CH)
CAUTION
WHEN THE IO sIZE Is sET TO "sMALL", WORD INPUT (sID AND sIW) CANNOT BE
UsED.
Name
sIW(0)
Dedicated
input
sIW(1)
sIW(2)
sID(2)
sIW(3)
sIW(4)
sID(4)
sIW(5)
sIW(6)
sID(6)
sIW(7)
General-
sIW(8)
sID(8) purpose
sIW(9)
input
sIW(10)
sID(10)
sIW(11)
sIW(12)
sID(12)
sIW(13)
sIW(14)
sID(14)
sIW(15)
n : Output-area head CH number assigned to master module
2. Details of input/output signals
Details
Used as the remote command area.
Used as the remote command's data area.
Used to input word or double word data from sIW or sID
port.
Or, used as remote command's command data area.
Chapter
5
5-9