External input/output functions
Dedicated input/output
6-567
MnWUPENA
(n=1 to 3)
(Operation
right
required)
Input
Mechanism n warm-up
operation mode enable
input signal
Enables the warm-up operation mode of each
mechanism. (n=1 to 3)
Note: To switch the warm-up operation
mode from enable to disable or vice
versa using this input signal, it is neces-
sary to enable the warm-up operation
mode with the WUPENA parameter, etc.
If the warm-up operation mode has been
disabled with a parameter, inputting this
input signal will not enable the mode.
Level -1,
-1
-1,
-1
Output Mechanism n warm-up
operation mode output
signal
Outputs that the warm-up operation mode is
currently enabled. (n=1 to 3)
MnWUPMD
(n=1 to 3)
Input
-
-
-1(No meaning),
-1
-1(No meaning),
-1
Output Mechanism n warm-up
operation status output
signal
Outputs that the status is the warm-up opera-
tion status, and thus the robot will operate at a
reduced speed. (n=1 to 3)
PSSLOT
Input
Slot number specifica-
tion
Slot number into which program storing the
position data the user wants to be outputted is
loaded is specified. (1 to 32)
*Change is available in the state input signal of
parameter: PSOUT is OFF.
Level -1 (input/starting value),
-1 (input/ending value)
* 6 bits in width maximum
-1 (output/starting value)
-1 (output/ending value)
* 6 bits in width maximum
Output Specified slot number
output
Slot number specified on the input side is out-
putted.
PSTYPE
Input
Position data type
specification
Type of the position data which the user wants
to be outputted is specified.
[Conditions for specification]
0(OFF): Position-type variable
(P1, P10 or the like)
1(ON): Joint-type variable (J1, J10 or the like)
*Change is available in the state input signal of
parameter:PSOUT is OFF.
Level
-1,-1
Output Specified position data
type output
Type of the position data specified on the input
side is outputted.
[Output information]
0(OFF): Position-type variable
(P1, P10 or the like)
1(ON): Joint-type variable (J1, J10 or the like)
PSNUM
Input
Position number speci-
fication
Position number (number of "P" or "J" vari-
able) for the position data the user wants to be
outputted is specified.
0 ~ 65535 (P0 ~ P65535 or J0 ~ J65535)
Example: If you need a position data for P100,
specify the value "100," using the
signal number you specified
between an input/starting number
and an input/ending number.
The width which can be specified for
a signal number is 16 bits maximum,
which allows you to specify position
data for up to "P66535." However, it
should be taken note that the posi-
tion variable for "P001" is not
accepted.
*Change is available in the state input signal of
parameter: PSOUT is OFF.
Level -1 (input/starting value)
-1 (input/ending value)
* 16 bits in width maximum
-1 (output/starting value)
-1 (output/ending value)
* 16 bits in width maximum
Output Specified position num-
ber output
Position number specified on the input side is
outputted.
Parameter
name
Class
Name
Function
Signal
level
Note1)
Factory shipment signal number.
Input, output
CR7xx-Q
CR7xx-D
