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Dedicated input/output
6External input/output functions
STOP
Input
Stop input
This input stops the program being executed.
(This does not apply to slots whose starting
condition is set to ALWAYS or Error.)
The stop input signal No. is fixed to 0, and can-
not be changed.
All task slots are stopped during multitask
operation.
However, slots whose starting condition is set
to ALWAYS or Error via a parameter "SLT**"
will not be executed.
Contacts A and B may be changed using the
parameter INB.
Level
10000
( 変更不可 )
,
10000
0(Cannot
change),
-1
Output Pausing output
This output indicates that the program is
paused.
Turns ON when there is not slot multitask run-
ning, and at least one slot is pausing.
However, slots whose starting condition is set
to ALWAYS or Error via a parameter "SLT**"
will not be executed.
STOP2
Input
Stop input
This input stops the program being executed.
(The specification is the same as for the STOP
parameter.)
Unlike the STOP parameter, signal numbers
can be changed.
Level
-1,
-1
-1
-1
Output Pausing output
This output indicates that the program is
paused.
(The specification is the same as for the STOP
parameter.)
STOPSTS
Input
-
-
-1(
無意
),
10007
-1(No meaning),
-1
Output Stop signal input
Outputs that the stop is being input. (Logical
ADD of all devices.)
SLOTINIT
(Operation
right required)
Input
Program reset
This input cancels the paused status of the
program and brings the executing line to the
top. Executing a program reset makes it possi-
ble to select a program.
In the multitask mode, the program reset is
applied to all task slots.
However, slots whose starting condition is set
to ALWAYS or Error via a parameter "SLT**"
will not be executed.
Edge
10008,
10008
-1,
-1
Output Program selection
enabled output
Outputs that in the program selection enabled
state.
Turns ON when program are not running or
pausing.
In multitask operation, this output turns ON
when all task slots are neither operating nor
paused.
However, slots whose starting condition is set
to ALWAYS or Error via a parameter "SLT**"
will not be executed.
ERRRESET
Input
Error reset input signal Releases the error state.
Edge
10009,
10009
2,
2
Output Error occurring output
signal
Outputs that an error has occurred.
SRVON
(Operation
right required)
Input
Servo ON input signal
This input turns ON the servo power supply for
the robot.
With a multi-mechanism configuration, the
servo power supplies for all mechanisms will
be turned ON.
Edge
10010,
10010
4,
1
Output In servo ON output sig-
nal
This output turns ON when the servo power
supply for the robot is ON. If the servo power
supply is OFF, this output also remains OFF.
With a multi-mechanism configuration, this out-
put turns ON when the servo of at least one
mechanism is ON.
Parameter
name
Class
Name
Function
Signal
level
Note1)
Factory shipment signal number.
Input, output
CRnQ
CRnD
