6-419
Dedicated input/output
6External input/output functions
SnSTART
(n=1 to 32)
(Operation
right required)
Input
Slot n start input
Starts each slot. n=1 to 32
Edge
-1,
-1
-1,
-1
Output Slot n in operation out-
put
Outputs the operating state for each slot. n=1
to 32
SnSTOP
(n=1 to 32)
Input
Slot n stop input
Outputs the operating state for each slot. n=1
to 32
Level
-1,
-1
-1,
-1
Output Slot n in pausing output Outputs that each slot and program is tempo-
rarily stopped.
n=1 to 32
MnSRVOFF
(n=1 to 3)
Input
Mechanism n servo
OFF input signal
This signal turns OFF the servo for each mech-
anism. n=1 to 3
The servo cannot be turned ON while this sig-
nal is being input.
Level
-1,
-1
-1,
-1
Output Mechanism n servo ON
disabled output signal
Outputs the servo ON disabled state. (Echo
back)
MnSRVON
(n=1 to 3)
(Operation
right required)
Input
Mechanism n servo ON
input signal
Turns the servo for each mechanism ON.
n=1 to 3
Edge
-1,
-1
-1,
-1
Output Mechanism n in servo
ON output signal.
Turns the servo for each mechanism ON.
n=1 to 3
MnMELOCK
(n=1 to 3)
(Operation
right required)
Input
Mechanism n machine
lock input signal
Sets/releases the machine lock state for each
mechanism.
n=1 to 3
Level
-1,
-1
-1,
-1
Output Mechanism n in
machine lock output
signal
Outputs that the machine lock state is entered.
n=1 to 3
PRGSEL
(Operation
right required)
Input
Program selection input
signal
Designates the setting value for the program
No. with numeric value input signals.
The program for slot 1 is selected. Output this
signal when at least 30 ms has elapsed follow-
ing the start of output to the numerical input
(IODATA). This signal should also be output to
the robot for at least 30 ms.
Edge
10020
-1,
Output -
-
OVRDSEL
(Operation
right required)
Input
Override selection input
signal
Designates the setting value for the override
with the numeric value input signals.
Output this signal when at least 30 ms has
elapsed following the start of output to the
numerical input (IODATA). This signal should
also be output to the robot for at least 30 ms.
Edge
10021
-1,
Output -
-
IODATA
Input
Numeric value input
(Start bit number,
end bit number)
Numerical values are read as binary values.
*Program number (Read by the PRGSEL)
If the parameter "PST" is enabled, it is read by
the start signal.
*Override (Read by the OvrdSEL)
The bit width can be set arbitrarily. However,
the accuracy of output values cannot be guar-
anteed when they exceed the set bit width.
Output this input to the robot for at least 30 ms
before inputting the PRGSEL or other setting
signals.
Level
Note2)
10032(Start bit),
10047(End bit),
10032(
Start bit
),
10047(
End bit
)
Note2)
-1(Start bit),
-1(End bit),
-1(Start bit),
-1(End bit)
Output Numeric value output
(Start bit number,
end bit number)
Numerical values are output as binary values.
*Program number (Output by the PRGOUT),
*Override (Output by the OvrdOUT),
*Outputs the line number (output by the LINE-
OUT)
*Error number (output by the ERROUT).
The bit width can be set arbitrarily. However,
the accuracy of output values cannot be guar-
anteed when they exceed the set bit width.
Read this signal when at least 30 ms has
elapsed following the start of input of a pro-
gram number (PRGOUT) or other signal to the
robot.
Parameter
name
Class
Name
Function
Signal
level
Note1)
Factory shipment signal number.
Input, output
CRnQ
CRnD
