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4.2
Usage of System Output Signals in the Compatible Mode ......................................................... 70
4.2.1
Robot Power ON Complete ................................................................................................... 70
4.2.2
Auto Mode (Output) .............................................................................................................. 71
4.2.3
Servo ON (Output) ................................................................................................................ 72
4.2.4
CAL Complete (Output)........................................................................................................ 73
4.2.5
External Mode (Output) ....................................................................................................... 74
4.2.6
Teaching (Output) ................................................................................................................. 75
4.2.7
Program Start Reset (Output).............................................................................................. 76
4.2.8
Robot-in-operation (Output) ................................................................................................. 77
4.2.9
Single-Cycle End (Output).................................................................................................... 78
4.2.10
Normal CPU (Output)........................................................................................................... 79
4.2.11
Robot Failure (Output) ......................................................................................................... 80
4.2.12
Robot Warning (Output) ....................................................................................................... 81
4.2.13
Dead Battery Warning (Output)........................................................................................... 82
4.2.14
Error No. (Output) ................................................................................................................ 83
4.2.15
Continue Start Permitted (Output)...................................................................................... 84
4.2.16
SS mode (Output).................................................................................................................. 84
4.2.17
Emergency Stop (Output from a contact)............................................................................. 85
4.3
Types and Functions of System Input Signals (Compatible Mode) ........................................... 86
4.4
Usage of System Input Signals in Compatible Mode .................................................................. 87
4.4.1
Enable Auto (Input) .............................................................................................................. 87
4.4.2
Operation Preparation Start (Input).................................................................................... 88
4.4.3
Program No. Select (Input)................................................................................................... 90
4.4.4
Program Start (Input)........................................................................................................... 92
4.4.5
Program Reset (Input) .......................................................................................................... 98
4.4.6
Robot Stop (Input)............................................................................................................... 100
4.4.7
Step Stop (All Tasks) (Input) .............................................................................................. 101
4.4.8
Instantaneous Stop (All Tasks) (Input).............................................................................. 102
4.4.9
Clear Robot Failure (Input) ................................................................................................ 103
4.4.10
Interrupt Skip (Input)......................................................................................................... 104
4.4.11
Continue Start (Input) ........................................................................................................ 105
4.5
Example of Using System I/O Signals in Compatible Mode ..................................................... 106
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