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CAUTION
• THIs ExPLANATION UsEs THE CHANNEL NUMBERs WHICH ARE AvAILABLE
WHEN THE IO sIZE Is sET TO "LARGE". NOTE THAT THE CHANNEL NUMBERs
DIFFER WHEN THE IO sIZE Is sET TO "sMALL".
• PROvIDE AN INTERvAL OF 100Ms OR MORE WHEN TURNING THE DEDICATED
INPUT FROM THE MAsTER MODULE TO THE CONTROLLER ON AND OFF. IF THE
INTERvAL Is TOO sHORT, THE DEDICATED INPUT MAY NOT BE RECOGNIZED. (THIs
ALsO APPLIEs TO THE INTERvAL FOR THE sAME DEDICATED INPUTs OR DIFFERING
DEDICATED INPUTs.)
• UsE THIs ALsO IF THERE Is A DEDICATED OUTPUT IN REsPECT TO THE
DEDICATED INPUT FROM THE MAsTER MODULE TO THE CONTROLLER.
AUTO mode changeover process
a) AUTO mode input ON is input
b) AUTO mode status output ON is output
c) After confirming that the AUTO mode status output is ON, the AUTO mode input OFF is
input
Program reset process
d) Program reset input ON is input
e) Program reset status output ON is output
f) After confirming that the program reset status output is ON, the program reset input OFF
is input
Program execution process
g) Robot program start input ON is input
h) Program reset status output OFF is output
Robot program execution status output ON is output
i) After confirming that the robot program execution status output is ON, the robot program
start input OFF is input
* The program cannot be executed if the emergency stop input and interlock input are OFF.
* If the return-to-origin complete status output is not ON, execution of the program may not
be possible depending on the execution level setting value.
* When sAFE mode is enabled, dedicated inputs other than sI (00) and sI (11) might be
disabled depending on service mode parameter setting unless service mode input signal is
set to ON with sI (02) in the DeviceNet system.
3. Dedicated input/output signal timing chart
Chapter
5
5-13
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