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Parameter
Class
name
PRGOUT
Input
Program No. output
request
Output Program No. output sig-
nal
LINEOUT
Input
Line No. output request The line number for task slot 1 is output to the
Output Line No. output request The "line number output in progress" status is
OVRDOUT
Input
Override value request The OP override is output to the numerical out-
Output Override value output
signal
ERROUT
Input
Error No. output request The error number is output to the numerical
Output Error No. output signal The "error number output in progress" status is
JOGENA
Input
Jog valid input signal
(Operation
right required)
Output Jog valid output signal Outputs that the jog operation is entered.
JOGM
Input
Jog mode input
(start No., end No.)
Output Jog mode output
(start No., end No.)
JOG+
Input
Jog feed plus side for 8-
axes
(start No., end No.)
Output -
JOG-
Input
Jog feed minus side for
8-axes
(start No., end No.)
Output -
Name
The program number for task slot 1 is output to
the numerical output (IODATA). After the start
of inputting this signal to the robot, wait at least
30 ms before reading the numerical output
(IODATA) signal.
The "program number output in progress" sta-
tus is output to the numerical output.
numerical output (IODATA). After the start of
inputting this signal to the robot, wait at least
30 ms before reading the numerical output
(IODATA) signal.
output to the numerical output.
put (IODATA). After the start of inputting this
signal to the robot, wait at least 30 ms before
reading the numerical output (IODATA) signal.
The "override output in progress" status is out-
put to the numerical output.
output (IODATA). After the start of inputting this
signal to the robot, wait at least 30 ms before
reading the numerical output (IODATA) signal.
output to the numerical output.
Jogs the designated axis in the designated
mode.
Operation takes place while this signal is ON.
Designates the jog mode.
0/1/2/3/4 = Joint, XYZ, cylindrical, 3-axis XYZ,
tool
Outputs the current jog mode.
Designates the jog operation axis.
JOINT jog mode: J1, J2, J3, J4, J5, J6, J7 and
J8 axes from the start number.
XYZ jog mode: X, Y, Z, A, B, C, L1 and L2 axes
from the start number.
CYLINDER jog mode: X, Éý, Z, A, B, C, L1 and
L2 axes from the start number.
3-axis XYZ jog mode: X, Y, Z, J4, J5 and J6
axes from the start number.
Tool jog mode: X, Y, Z, A, B and C axes from
the start number.
-
Designates the jog operation axis.
JOINT jog mode: J1, J2, J3, J4, J5, J6, J7 and
J8 axes from the start number.
XYZ jog mode: X, Y, Z, A, B, C, L1 and L2 axes
from the start number.
CYLINDER jog mode: X, Éý, Z, A, B, C, L1 and
L2 axes from the start number.
3-axis XYZ jog mode: X, Y, Z, J4, J5 and J6
axes from the start number.
Tool jog mode: X, Y, Z, A, B and C axes from
the start number.
-
Function
Edge 10022,
Edge 10023,
Edge 10024,
Edge 10025,
Level -1,
Level
jiku
Level
6External input/output functions
Factory shipment signal number.
Signal
Input, output
level
Note1)
CRnQ
-1,
-1
-1
-1,
-1
-1
-1,
-1
-1
-1,
-1
-1
-1,
-1
-1
Note3)
Note3)
-1( Start bit ),
-1(Start bit),
-1(End bit),
-1( End bit ),
-1(Start bit),
-1( Start bit ),
-1(End bit)
-1( End bit )
Note4)
Note4)
-1,
-1,
-1
-1
Note4)
Note4)
-1,
-1,
-1
-1
Dedicated input/output 6-420
CRnD
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