4
I/
o
signal functions
4-6
2. I/O signal list
A list of the I/O signals is given below. For details regarding each signal, refer to section 3 "I/O signal
details".
Type
Signal Name
Meaning
Description
Inputs
PIN0 to PIN7
Point No. select
0 to 7
• Specifies the point No. for the positioning operation.
• Specifies the point No. for current position teaching (MANUAL mode).
JOG+
JOG movement (+ direction)
Plus-direction movement occurs while ON (MANUAL mode)
JOG-
JOG movement (- direction)
Minus-direction movement occurs while ON (MANUAL mode)
SPD
Speed switch
Enabled when assigned to the JOG+ signal, with Speed switch function set to
"Enable" and MANUAL set to "OFF".
Performs the positioning operation at the speed set in "Switched speed".
MANUAL
MANUAL mode
ON: MANUAL mode
ORG
Return-to-origin
Begins a return-to-origin.
/LOCK
Interlock
ON: movement enabled; OFF: movement disabled; If switched OFF during
movement, a deceleration stop occurs.
START
Start
Begins positioning to the specified point.
TEACH
Current position teach
Enabled when assigned to the START signal, with /LOCK set to OFF in the
MANUAL mode.
Sets (teaches) the current position at the specified point No.
RESET
Reset
• Alarm reset
• Point No. output reset
• Relative positioning "remaining movement amount" clear
SERVO
Servo ON
ON: servo on; OFF: servo off.
Outputs
POUT0 to
POUT7
Point No. output
0 to 7
• Outputs the point No. of the positioning operation.
• Outputs the alarm No. of the alarm which occurred.
OUT0
Control output 0
Assigns the following outputs by I/O parameter setting:
• Zone output
• Personal zone output
• MANUAL mode status • Return-to-origin end status
• Push status
• Warning output
• NEAR output
• Movement-in-progress output
OUT1
Control output 1
OUT2
Control output 2
OUT3
Control output 3
ZONE
*1
Zone output
ON when robot enters the parameter-specified zone.
PZONE
*1
Personal zone output
ON when specified zone for each point is entered.
MANU-S
*1
MANUAL mode status
ON when in the MANUAL mode.
ORG-S
*1
Return-to-origin end status
ON at return-to-origin end.
TLM-S
*1
Push status
ON during push operation.
/WARN
*1
Warning output
OFF when a warning alarm occurs.
NEAR
*1
NEAR output
ON near the end of positioning.
MOVE
*1
Movement-in-progress
ON while movement is in progress.
BUSY
Operation-in-progress
ON while operation is in progress.
END
Operation end
Operation result output; ON at normal end.
/ALM
Alarm
ON when normal. OFF when alarm occurs.
SRV-S
Servo status
ON when servo is on.
*1. Used for OUT0 to OUT3 signal assignment by parameter selection. The factory settings when shipped are as follows: OUT0 = PZONE,
OUT1 = NEAR, OUT2 = TLM-S, OUT3 = ORG-S.
