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4
I/O interf
ace
4-9
1.9 Dedicated input signal description
NOTE
• Do not input several dedicated inputs at the same time. When inputting continuously, make sure to provide an
interval of 100 ms or more between input pulses.
• Keep 100 ms or more pulses for the pulse input signal width.
• The dedicated inputs are valid when the controller is in the AUTO mode and the control setting is "RELEASE".
1. DI01 Servo ON input (Pulse input signal)
DI01 is used to release the emergency stop status and turn the servo on.
When the DI01 contact is closed (ON), the servo turns on at the signal rise.
NOTE
• To use this function, it is necessary that no alarm occurs and the emergency stop input is closed.
2. DI06 Stop
DI06 is used to pause the program or robot operation during program execution or manual robot movement operation.
When the DI06 contact is open (OFF), the program and robot operation stop. Additionally, the program execution and
manual robot movement operation cannot be performed in the DI06 contact open status.
WARNING
The stop signal is not a safety input. Therefore, do not use this signal for the safety purpose.
Even when the stop signal is turned on, the servo does not turn off.
3. DI10 Sequence control
DI10 is used to execute a sequence program.
When the DI10 contact is closed (ON), a sequence program is executed.
DO12 (Sequence program-in-progress) is output while a sequence program is executed.
NOTE
When an external 24 V power is not supplied to the parallel I/O board, the robot always enters the stop status.
The stop status is released when the parallel I/O board setting is "INVALID".
4. DI12 Automatic operation start
DI12 is used to start execution of the program.
When the DI12 contact is closed (ON) in AUTO mode, the robot program starts as the signal pulse is established. DO13
(Robot program-in-progress) is output when the robot program is executed.
CAUTION
When the program execution is stopped by a signal such as DI06 (Stop), the program re-executes the command
that has stopped.
5. DI14 Return-to-origin (for INC axis)
DI14 is used to perform return-to-origin of the incremental type axis. For the incremental type axis, when return-to-origin
is executed, the return-to-origin operation is performed.
When the DI14 contact is closed (ON), the axes will start returning to their origin positions at the rising edge of the
signal pulse, in the return-to-origin sequence specified by parameter.
When there are no incremental type axis, "6.309: INC. motor disconnected" alarm occurs.
This input signal is only for the axes whose return-to-origin method is set to "SENSOR" or "TORQUE" (stroke end).