ID : 1393

[Mini I/O-dedicated mode] Types and Functions of System Output Signals

The table below lists the system output signals.

For information about system output signals common for all allocation modes, refer to [Common for all Allocation modes] Types and Functions of System Output Signals.

Application	Output signal name	Function
Start-up	Robot Initialized	Outputs to the external device that the OPERATION PREPARATION command is executable.
	Auto Mode	Outputs when the robot is in Auto mode.
	Operation Preparation Completed	Outputs when the motor power is turned on and the robot is in External auto mode.
Program execution	Robot Running	Outputs when the robot is in operation (one or more tasks are being executed).
Error/Warning	CPU Normal	Outputs when the CPU of the robot controller is normal.
	Robot Error	Outputs when a servo error, program error, or any other serious error occurs.
	Battery Warning	Outputs when the voltage of the encoder or memory backup battery drops below the specified level.
Continue	Continue Start Permission Note : It is necessary to specify this output signal by I/O hardware setting beforehand.	Outputs when Continue Start is permitted.

System output signals are checked every 8 ms.

ID : 1393

Related Information: Robot Initialized (output); Auto Mode (output); Operation Preparation Completed (output); Robot Running (output); CPU Normal (output); Robot Error (output); Battery Warning (output); Continue Start Permission (output): Selectable by I/O hardware setting