I/O List; Interface Panel Output - YASKAWA YRC1000micro Collaborative Operation Instructions

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9. I/O List

This chapter describes the I/Os used by the direct teach and avoidance functions.
Do not use the I/O described in this chapter for any other purpose. Doing so could result in an unexpected
operation of the manipulator.
Some I/Os differ between the MOTOMAN-HCXX (not equipped with direct teach device) and the
MOTOMAN-HCXXDT (equipped with direct teach device).

9.1. Interface Panel Output

60527
-
60627
System
reserved
60637
System
reserved
60647
System
reserved
60526 60525
- -
60626 60625
System System
reserved reserved
60636 60635
Hand Hand
guiding guiding
operation operation
mode mode
ROTATE TRANS
60646 60645
Avoidance
function
System
operation
reserved
mode
TRANS
WARNING
NOTICE
60524 60523
-
-
60624 60623
System System
reserved reserved
60634 60633
Hand
guiding
System
operation
reserved
mode
JOINT
60644 60643
Avoidance
function
System
operation
reserved
mode
JOINT
9-1
60522 60521
- -
60622 60621
System System
reserved reserved
60632 60631
System System
reserved reserved
60642 60641
System System
reserved reserved
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I/O List
60520
External
force
monitor
maximum
value reset
request
60620
System
reserved
60630
Hand
guiding
operation
permission
60640
System
reserved
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