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Parameter
name
Name
IODATA
Numeric value input
Note2)
(start No., end No.)
Program No. out -
PRGOUT
put request
LINEOUT
Line No. output
request
Override value out -
OVRDOUT
put request
ERROUT
Error No. output
request
Jog valid input sig -
JOGENA
nal
JOGM
Jog mode input 2-
bit
JOG+
Jog feed + side for
8-axes
JOG-
Jog feed - side for
8-axes
HNDCNTL1
：
HNDCNTL3
HNDSTS1
：
HNDSTS3
HNDERR1
Mechanism 1 hand
error input signal
：
：
HNDERR3
Mechanism 3 hand
error input signal
AIRERR1
Pneumatic pressure
error 1 input signal
：
：
Pneumatic pressure
AIRERR3
error 3 input signal
M1PTEXC
：
M3PTEXC
USER -
Note3)
AREA
Note1) The level indicates the signal level.
L: Level signal → The designated function is validated when the signal is ON, and is invalidated when the sig -
E: Edge signal → The designated function is validated when the signal changes from the OFF to ON state, and
Note2) Four elements are set in the order of input signal start No., end No., output signal start No. and end No.
Note3) Up to eight points can be set successively in order of start output signal No. and end output signal No.
Input
Function
Used to designate the program
name, override value., mechanism
value.
Requests output of the program
name.
Requests output of the line No.
Requests the override output.
Requests the error No. output.
Validates jog operation with the
external signals
Designates the jog mode.
Requests the + side jog operation.
Requests the - side jog operation.
None
None
Requests the hand error occur -
rence.
Request the pneumatic pressure
error occurrence.
None
None
nal is OFF.
the function maintains the original state even when the signal then turns OFF.
Note1)
Level
Name
Numeric value output
Ｌ
(start No., end No.)
Program No. output
Ｅ
signal
Ｅ
Line No. output signal
Override value out -
Ｅ
put signal
Error No. output sig -
Ｅ
nal
Jog valid output sig -
Ｅ
nal
Jog mode output 2-
Ｌ
bit
Ｌ
Ｌ
Mechanism 1 hand
output signal status
：
Mechanism 3 hand
output signal status
Mechanism 1 hand
input signal status
：
Mechanism 3 hand
input signal status
Mechanism 1 hand
error output signal
Ｌ
：
Mechanism 3 hand
error output signal
Pneumatic pressure
error 1 output signal.
Ｌ
：
Pneumatic pressure
error 3 output signal.
Maintenance parts
replacement time
Ｌ
warning signal
User-designated area
8-points
3Controller
Output
Function
Used to output the program name,
override value., mechanism No.
Outputs that the program name is
being output to the numeric value out -
put signal.
Outputs that the line No. is being out -
put to the numeric value output signal.
Outputs that the override value is being
output to the numeric value output sig -
nal.
Outputs that the error No. is being out -
put to the numeric value output signal.
Outputs that the jog operation with
external signals is valid.
Outputs the current jog mode.
None
None
Mechanism 1: Outputs the status of
general-purpose outputs
900 to 907.
Mechanism 2: Outputs the status of
general-purpose outputs
910 to 917.
Mechanism 3: Outputs the status of
general-purpose outputs
920 to 927.
Mechanism 1: Outputs the status of
hand inputs 900 to 907.
Mechanism 2: Outputs the status of
hand inputs 910 to 917.
Mechanism 3: Outputs the status of
hand inputs 920 to 927.
Outputs that a hand error is occurring.
Outputs that a pneumatic pressure
error is occurring.
Outputs that the maintenance parts
have reached the replacement time.
Outputs that the robot is in the user-
designated area.
Dedicated input/output 3-51
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