Pin Assignments; How To Control Hand I/O - Epson T-B Series Manual

13.4 Pin Assignments

The following is pin assignments of Hand I/O connector (D-sub 15 pin male).
Pin No.
* I/O connector is included with shipment.

13.5 How to Control Hand I/O

T-B series has I/O (Input: 6 bit, Output: 4 bit) for hand control I/O.
Input bit port: 18, 19, 20, 21, 22, 23
Output bit port: 12, 13, 14, 15
How to operate
Hand I/O is only supported for bit port operation commands. Byte or word commands are
not supported.
Available commands
Command
Sw
SetSw
On
Off
Restriction 1: Remote I/O
Hand I/O cannot be set in Remote I/O.
Restriction 2: Input/Output by byte port or word port
There are restrictions to operate input/output of standard I/O by byte or word port since
hand I/O is included in byte port and word port.
T-B series Rev.1
Signal Name
1
Input No.18
2
Input No.20
3
Input No.22
Input common
4
No.18 to 23
5
+24V
6
Output No.12
7
Output No.14
Output common
8
No.12 to 15
Connector
Hand I/O connector
Function
Input bit port I/O.
Set an input of virtual I/O.
Turn ON the output bit.
Turn OFF the output bit.
Input: Always "0" is read for bit of hand I/O.
Output: Execute error occurs when specifying "1" for bit of hand I/O.
T3-B T6-B Manipulator 13. Hand I/O Connector
Pin No.
9
Input No.19
10
Input No.21
11
Input No.23
Not Used
12
13
GND
14
Output No.13
15
Output No.15
Standard
D-Sub 15 pin female (manipulator side)
D-Sub 15 pin male (cable side)
Signal Name
121