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4.4.3 Program No. Select (Input)
Robot status
Program
start (input)
Program No. select signal
0
6
2
to 2
Parity
(1) Function
The program number to be executed can be specified from the external
device by inputting this signal.
(2) Terminal numbers
No.11 to No.18 of connector CN8.
(3) Input conditions and operation
This signal is executable only in the external mode. In other modes, an
error (ERROR21E2, 21E4, 21E6) will be displayed, and the terminal
motor power will be turned OFF.
‚ As shown in the table given on the next page, the program No. select
signal is made up of eight bits of 2
ƒ Input a decimal program number by converting it into binary 2
parity bit.
„ "Short" represents the bit value = 1, "open" represents the bit value = 0,
and the parity bit is odd parity.
… As shown below, input the program No. select signal before the
program start signal (1 msec. or more), and hold the state until the
robot starts to operate. If this condition is not met, ERROR2031 or
ERROR2033 will be displayed, the power to the motor will be turned
OFF, and the mode will be switched to the Auto mode.
Wait for start
or preceding cycle
ON (shorted)
OFF (open)
ON (shorted)
OFF (open)
Program No. Select Signal
† Input 1 or 0 as the parity bit so that the total of 1's existing in the eight
bits of 2
to 2
and the parity bit will be odd.
0
6
Example: When the program number is 15, the bit status of 2
(001111), and the total number of 1s is four, an even number.
Set 1 as the parity bit to make the total number of 1s five, an
odd number.
Caution Q Q Q Q The bit value =1 represents short, and the bit value =0
represents open.
R R R R The program numbers executable from the external device
are limited to Pro0 to Pro127.
to 2
and the parity bit.
0
6
Single-cycle operation
1 ms. or more required
90
to 2
and
0
6
to 2
is
0
6
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