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6External input/output functions
Parameter
Class
name
STOP
Input
Stop input
Output Pausing output
STOP2
Input
Stop input
Output Pausing output
STOPSTS
Input
-
Output Stop signal input
SLOTINIT
Input
Program reset
(Operation
right required)
Output Program selection
enabled output
ERRRESET Input
Error reset input signal Releases the error state.
Output Error occurring output
signal
SRVON
Input
Servo ON input signal
(Operation
right required)
Output In servo ON output sig-
nal
6-417 Dedicated input/output
Name
This input stops the program being executed.
(This does not apply to slots whose starting
condition is set to ALWAYS or Error.)
The stop input signal No. is fixed to 0, and can-
not be changed.
All task slots are stopped during multitask
operation.
However, slots whose starting condition is set
to ALWAYS or Error via a parameter "SLT**"
will not be executed.
Contacts A and B may be changed using the
parameter INB.
This output indicates that the program is
paused.
Turns ON when there is not slot multitask run-
ning, and at least one slot is pausing.
However, slots whose starting condition is set
to ALWAYS or Error via a parameter "SLT**"
will not be executed.
This input stops the program being executed.
(The specification is the same as for the STOP
parameter.)
Unlike the STOP parameter, signal numbers
can be changed.
This output indicates that the program is
paused.
(The specification is the same as for the STOP
parameter.)
-
Outputs that the stop is being input. (Logical
ADD of all devices.)
This input cancels the paused status of the
program and brings the executing line to the
top. Executing a program reset makes it possi-
ble to select a program.
In the multitask mode, the program reset is
applied to all task slots.
However, slots whose starting condition is set
to ALWAYS or Error via a parameter "SLT**"
will not be executed.
Outputs that in the program selection enabled
state.
Turns ON when program are not running or
pausing.
In multitask operation, this output turns ON
when all task slots are neither operating nor
paused.
However, slots whose starting condition is set
to ALWAYS or Error via a parameter "SLT**"
will not be executed.
Outputs that an error has occurred.
This input turns ON the servo power supply for
the robot.
With a multi-mechanism configuration, the
servo power supplies for all mechanisms will
be turned ON.
This output turns ON when the servo power
supply for the robot is ON. If the servo power
supply is OFF, this output also remains OFF.
With a multi-mechanism configuration, this out-
put turns ON when the servo of at least one
mechanism is ON.
Function
Level 10000
Level -1,
Edge 10008,
Edge 10009,
Edge 10010,
Factory shipment signal number.
Signal
Input, output
level
Note1)
CRnQ
0(Cannot
,
change),
( 変更不可 )
10000
-1
-1
-1
-1
-1(
),
-1(No meaning),
無意
10007
-1
-1,
10008
-1
2,
10009
2
4,
10010
1
CRnD
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