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DI16
"MANUAL" mode switching
Switches to "MANUAL" mode.
At the rising edge of this signal, the controller switches to "MANUAL" mode.
DI17
Return-to-origin
Performs return-to-origin on incremental mode axes and semi-absolute mode axes.
When return-to-origin is performed, incremental mode axes return to their origins.
On semi-absolute mode axes, an absolute search (also called absolute reset) is
performed by return-to-origin operation.
In MANUAL mode, at the rising edge of this signal, each axis returns to its origin in
the return-to-origin order specified by parameter. If no incremental mode axis and
semi-absolute axis exist, an error "0.10: INC. motor disconnected" occurs. This input
signal is only for the axes whose return-to-origin method uses a sensor or stroke end
detection.
1.7.2 Dedicated output signals
These output signals indicate the controller status. The output status can be checked from
the robot program or sequence program, but cannot be changed.
DO00 EMG monitor (emergency stop monitor)
This signal monitors DI00 (Emergency stop ready signal) status and stays on while
DI00 is off. Canceling emergency stop does not clear this signal as long as DI00 is
off.
DO01 CPU OK
This signal is on while the controller is operating normally.
This signal turns off when either of the following conditions occurs, and the
controller stops.
• When a serious error has occurred
• When the control power supply voltage has dropped below the specified value
When this signal turns off, the controller power must be turned off and then back on,
in order to restore the normal state.
DO02 Ser vo-on state
This signal is on while the controller main power is on. The SRV indicator LED on the
front panel of the controller is lit while this signal is on.
DO03 Alarm
This signal turns on in the following cases. The ERR indicator LED on the front panel
of the controller also lights up when this alarm signal turns on.
1) When DI00 (Emergency stop ready signal) turned off. In this case, canceling
emergency stop or inputting DI01 (Servo ON) turns off the alarm.
1. Standard I/O interface over view
Chapter
5
5-13
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