Shibaura CA20-M10, Operating Manual, Page: 188 / 384

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– 18
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10.2.10 Palletizing input

The general-purpose input port designated as the palletizing input with the mode setting can be
used as the palletizing input. (Refer to section 13.2.16.)

This is the sequential and palletizing mode changeover input. After resetting or execution of the
END command, when the start input is turned ON, the controller will judge this signal and
change the mode.
OFF : Sequential mode
ON : Palletizing mode

This input can be accepted only when the Teach Pendant is not connected or when the Teach
Pendant and RS-232C are invalid.

10.2.11 Running output

This signal turns ON when the controller is executing a program or during return to origin.
In the external point designation mode, this signal will turn ON during robot operation.

This signal remains ON even when the operation is stopped with the pause (temporary stop)
input.

This signal will turn OFF when the program is stopped with the END command or stop input.

10.2.12 Error output

This signal turns ON when an error has occurred in the controller.

Refer to Chapter 19 for details on the error types and processes.

10.2.13 Positioning complete output

This is the positioning complete signal used in the
movement system commands.

This signal turns ON when at the position (in-position).

This signal will also turn ON when the origin is reached
during return to origin.

When using two to four axes, this signal will turn ON
when all axes have completed positioning.

10.2.14 Return to origin complete output

This is the origin return and HOME command execution completion signal.

This signal will turn ON when the robot can identify the current position and return to origin is
not required for execution of move instructions.

This signal will turn OFF when return to origin is required for execution of move instructions due
to an encoder-related error, etc.
ON OFF
When at that position
During axis
movement
During axis
movement