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3.2
Usage of System Output Signals (Standard Mode)..................................................................... 27
3.2.1
Robot Initialization Complete (Output) ............................................................................... 27
3.2.2
Auto Mode (Output) .............................................................................................................. 28
3.2.3
External Mode (Output) ....................................................................................................... 29
3.2.4
Servo ON (Output) ................................................................................................................ 30
3.2.5
Robot-in-operation (Output) ................................................................................................. 31
3.2.6
Normal CPU (Output)........................................................................................................... 32
3.2.7
Robot Failure (Output) ......................................................................................................... 33
3.2.8
Robot Warning (Output) ....................................................................................................... 34
3.2.9
Dead Battery Warning (Output)........................................................................................... 35
3.2.10
Continue Start Permitted (Output)...................................................................................... 36
3.2.11
SS mode (Output).................................................................................................................. 36
3.2.12
Emergency Stop (Output from a contact)............................................................................. 37
3.3
Types and Functions of System Input Signals (Standard Mode)................................................ 38
3.4
Usage of System Input Signals (Standard Mode) ....................................................................... 39
3.4.1
Enable Auto (Input) .............................................................................................................. 39
3.4.2
Robot Stop (Input)................................................................................................................. 40
3.4.3
Step Stop (All Tasks) (Input) ................................................................................................ 41
3.4.4
Instantaneous Stop (All Tasks) (Input)................................................................................ 42
3.4.5
Interrupt Skip (Input)........................................................................................................... 43
3.5
3.5.1
General Information about Commands................................................................................ 45
3.5.2
Processing I/O Commands .................................................................................................... 46
3.5.3
I/O Commands Details.......................................................................................................... 52
3.6
Example of Using System I/O Signals in Standard Mode .......................................................... 65
Chapter 4 System I/O Signals
4.1
Types and Functions of System Output Signals (Compatible Mode) ......................................... 69
................................................. 45
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