Shibaura CA20-M10, Operating Manual, Page: 189 / 384

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10.2.15 Input wait output
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The general-purpose output port designated as input wait output with the mode setting can be
used as the input wait output. (Refer to section 13.2.8.)

This output turns ON during IN command execution (general-purpose wait state).
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10.2.16 Pausing (temporarily stopped) output

The general-purpose output port designated as pause output with the mode setting can be used
as the pause output. (Refer to section 13.2.7.)

The pause input is recognized and the robot is decelerated and stopped. This output will turn
OFF when the pause is canceled.
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10.2.17 READY output

The general-purpose output port designated as READY output with the mode setting can be
used as the READY output. (Refer to section 13.2.15.)

This output turns ON when the power has been turned ON and the controller configured with
the master unit and slave unit is ready for operation.

This output is valid when the Teach Pendant is not connected or is turned OFF.
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10.2.18 Individual task positioning complete output

After a general-purpose output port is designated for the individual task positioning complete
output by the mode setting, the port can be used for individual task positioning complete output.
(Refer to section 13.2.18.)

This setting can set the positioning complete output separately for each task.
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10.2.19 Individual task return to origin complete output

After a general-purpose output port is designated for the individual task return to origin
complete output by the mode setting, the port can be used for individual task return to origin
complete output. (Refer to section 13.2.19.)

This setting can set the return to origin complete output separately for each task.
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10.2.20 Battery alarm output

After a general-purpose output port is designated for the battery alarm output by the mode
setting, the port can be used for battery alarm output. (Refer to section 13.2.22.)

This signal is turned ON when a voltage drop occurs in the encoder backup power supply.
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10.3 RS-232C communication specifications
This ROIbot can communicate data with the host computer (personal computer, etc.) by using the
optional communication cable (Type: PCBL-31). Refer to the RS-232C communication
specifications for details.
Ask you nearest branch or dealer for the RS-232C communication specifications.