6-421
Dedicated input/output
6External input/output functions
JOGNER
(Operation
right required)
Input
Errors during jog opera-
tion
Temporarily ignoring
input signal
Temporarily ignores errors that cannot be reset
during jog operation.
Level
-1,
-1
-1,
-1
Output Errors during jog opera-
tion
Temporary ignoring out-
put signal
Outputs that the error is being ignored tempo-
rarily.
* This signal is applicable to only machine 1.
HNDCNTLn
(n=1 to 3)
Input
-
-
HNDCNTL1
10048(
Start bit
),
10055(
End bit
)
-1(Start bit),
-1(End bit)
Output Mechanism n hand out-
put signal state
(start No., end No.)
Outputs the hand output(n=1) 900 to 907 state.
Outputs the hand output(n=2) 910 to 917 state.
Outputs the hand output(n=3) 920 to 927 state.
Example) To output the four points from 900
through 903 to general-purpose output signals
3, 4, 5 and 6, set the HNDCNTL1 to (3, 6).
HNDstSn
(n=1 to 3)
Input
-
-
HNDSTS1
10056(
Start bit
),
10063(
End bit
)
-1(Start bit),
-1(End bit)
Output Mechanism n hand
input signal state
(start No., end No.)
Outputs the hand input(n=1) 900 to 907 state.
Outputs the hand input(n=2) 910 to 917 state.
Outputs the hand input(n=3) 920 to 927 state.
Example) To output the four points from 900
through 903 to general-purpose output signals
3, 4, 5 and 6, set the HNDCNTL1 to (3, 6).
HNDERRn
(n=1 to 3)
Input
Mechanism n hand
error input signal
Requests the hand error occurrence.
A LOW level error (error number 30) will be
generated.
Level
-1,
-1
-1,
-1
Output Mechanism n hand
error output signal
Outputs that a hand error is occurring.
AIRERRn
(n=1 to 5)
Input
Mechanism n pneu-
matic pressure error
input signal
Request the pneumatic pressure error occur-
rence.
A LOW level error (error number 31) will be
generated.
Level
-1,
-1
-1,
-1
Output Mechanism n pneu-
matic error output signal
Outputs that a pneumatic pressure error is
occurring.
USRAREA
Refer to
367, "5.8
About user-
defined area"
Input
-
-
Note5)
10064(
Start bit
),
10071(
End bit
)
Note5)
-1(Start bit),
-1(End bit)
Output User-designated area
8-points
(start No., end No.)
Outputs that the robot is in the user-designated
area.
The output is made sequentially for areas 1, 2
and 3, as designed from the one closest to the
start number.
The area is set with parameters AREA1P1,
AREA1P2 to AREA8P1 and AREA8P2.
Setting example)
When USRAREA is used as an example:
If only area 1 is used, USRAREA: 8, 8 Setting
valid
If only area 1,2 is used, USRAREA: 8, 9 Set-
ting valid
USRAREA:-1,-1 to Setting invalid
USRAREA: 8,-1 to Setting invalid(No Error)
USRAREA:-1,8 to Setting invalid(No Error)
USRAREA:9,8 to Setting invalid(Error L6643)
MnPTEXC
(n=1 to 3)
Input
-
-
-1(
No meaning
),
-1
-1,
(No meaning)
Output Warning for mainte-
nance parts replace-
ment time
This output notifies that the replacement time
of maintenance parts has been reached.
Level
-1
MnWUPENA
(n=1 to 3)
(Operation
right required)
Input
Mechanism n warm-up
operation mode enable
input signal
Enables the warm-up operation mode of each
mechanism. (n=1 to 3)
Note: To switch the warm-up operation mode
from enable to disable or vice versa using this
input signal, it is necessary to enable the
warm-up operation mode with the WUPENA
parameter, etc. If the warm-up operation mode
has been disabled with a parameter, inputting
this input signal will not enable the mode.
Level
-1,
-1
-1,
-1
Output Mechanism n warm-up
operation mode output
signal
Outputs that the warm-up operation mode is
currently enabled. (n=1 to 3)
Parameter
name
Class
Name
Function
Signal
level
Note1)
Factory shipment signal number.
Input, output
CRnQ
CRnD
