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3 Controller
3.6 Dedicated input/output
Parameter
name
Name
TEACHMD
ATTOPMD
ATEXTMD
RCREADY
Automatic opera -
AUTOENA
tion enabled input
signal
START
Start input signal
STOP
Stop input signal
STOP2
Stop input signal
SLOTINIT
Program reset input
signal
ERRRESET Error reset input
signal
CYCLE
Cycle stop input
signal
SRVOFF
Servo ON enabled
input signal
SRVON
Servo ON input
signal
IOENA
Operation rights
input signal
MELOCK
Machine lock input
signal
SAFEPOS
Evasion point
return input signal
OUTRESET General-purpose
output signal reset
EMGERR
S1START
:
Start input
S32START
Dedicated input/output
Input
Function
None
None
None
None
Allows automatic operation.
Starts all slots.
Stops all slots.
The input signal No. is fixed to 0.
Note) Use the emergency stop
input for stop inputs related
to safety.
The program during operation is
stopped.
Unlike the STOP parameter,
change of the signal number is
possible.
Notes) Specification is the same as
the STOP parameter.
Resets the wait state.
Resets the error state.
Carries out cycle stop.
Turns the servo OFF for all mech -
anisms.
Turns the servo ON for all mecha -
nisms.
Requests the operation rights for
the external signal control.
Sets/resets the machine lock
state for all mechanisms.
Requests the evasion point return
operation.
Resets the general-purpose output
signal.
None
Starts each slot.
Note1)
Level
Name
Teaching mode out -
put signal
Automatic mode out -
put signal
Remote mode output
signal
Controller power ON
complete signal
Automatic operation
L
enabled output signal
Operating output sig -
E
nal
Wait output signal
L
Wait output signal
L
Program selection
E
enabled output signal
Error occurring out -
E
put signal
In cycle stop opera -
E
tion output signal
Servo ON enabled
L
output signal
In servo ON output
E
signal
Operation rights out -
L
put signal
In machine lock out -
E
put signal
In evasion point
E
return output signal
E
Emergency stop out -
put signal
E
In operation output
Output
Function
Outputs that the teaching mode is
entered.
Outputs that the automatic mode is
entered.
Outputs that the remote mode is
entered.
Outputs that external input signals can
be received.
Outputs the automatic operation
enabled state.
Outputs that the slot is operating.
Outputs that the slot is temporarily
stopped.
Outputs that the slot is temporarily
stopped.
Notes) Specification is the same as the
STOP parameter.
Outputs that the slot is in the program
selection enabled state.
Outputs that an error has occurred.
Outputs that the cycle stop is operat -
ing.
Outputs servo-on disable status.
(Echo back)
Outputs the servo ON state.
Outputs the operation rights valid state
for the external signal control.
Outputs the machine lock state.
Outputs that the evasion point return
is taking place.
None
Outputs that an emergency stop has
occurred.
Outputs the operating state for each
slot.
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