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ID : 2970
I/O Allocation
Mini I/O is allocated to other than Mini I/O dedicated mode. (For details, refer to "RC8A I/O Allocation", "RC8A I/O Allocation"). Mini I/O allows user-input (Terminal No.11 to 26) and user-output(Terminal No.46 to 60) to map with Object dictionary. Hand I/O allows hand-Output (Terminal No.1 to 8) and hand-input(Terminal No.9 to 16) to map with Object dictionary. When Mini I/O External Emergency Stop, Protective Stop and/or Enable Auto has been input, the status that the internal robot controller recognizes can map to Object dictionary as Status I/O.
Object Dictionary
| Index | Subindex | Name | Datatype | Accessright | Initial value | Comment |
|---|---|---|---|---|---|---|
| 0x3000 | 0x00 | Mini IO | UINT | RO | - | External devices->RC8 |
| 0x3001 | 0x00 | Hand IO | USINT | RO | - | >External devices->RC8 |
| 0x3002 | 0x00 | Status IO | USINT | RO | - | >External devices->RC8 |
| 0x3010 | 0x00 | Mini IO | UINT | RW | - | RC8->External devices |
| 0x3011 | 0x00 | Hand IO | USINT | RW | - | RC8->External devices |
Mini IO (External devices->RC8)
| Bit | Description |
|---|---|
| 0 | User input(Terminal No.11) |
| 1 | User input(Terminal No.12) |
| 2 | User input(Terminal No.13) |
| 3 | User input(Terminal No.14) |
| 4 | User input(Terminal No.15) |
| 5 | User input(Terminal No.16) |
| 6 | User input(Terminal No.17) |
| 7 | User input(Terminal No.18) |
| 8 | User input(Terminal No.19) |
| 9 | User input(Terminal No.20) |
| 10 | User input(Terminal No.21) |
| 11 | User input(Terminal No.22) |
| 12 | User input(Terminal No.23) |
| 13 | User input(Terminal No.24) |
| 14 | User input(Terminal No.25) |
| 15 | User input(Terminal No.26) |
Mini IO (RC8->External devices)
| Bit | Description |
|---|---|
| 0 | -(Disable) |
| 1 | User output(Terminal No.46) |
| 2 | User output(Terminal No.47) |
| 3 | User output(Terminal No.48) |
| 4 | User output(Terminal No.49) |
| 5 | User output(Terminal No.50) |
| 6 | User output(Terminal No.51) |
| 7 | User output(Terminal No.52) |
| 8 | User output(Terminal No.53) |
| 9 | User output(Terminal No.54) |
| 10 | User output(Terminal No.55) |
| 11 | User output(Terminal No.56) |
| 12 | User output(Terminal No.57) |
| 13 | User output(Terminal No.58) |
| 14 | User output(Terminal No.59) |
| 15 | User output(Terminal No.60) |
Hand IO (RC8->External devices)
| Bit | Description |
|---|---|
| 0 | Hand output(Terminal No.1) |
| 1 | Hand output(Terminal No.2) |
| 2 | Hand output(Terminal No.3) |
| 3 | Hand output(Terminal No.4) |
| 4 | Hand output(Terminal No.5) |
| 5 | Hand output(Terminal No.6) |
| 6 | Hand output(Terminal No.7) |
| 7 | Hand output(Terminal No.8) |
Hand IO (External devices->RC8)
| Bit | Description |
|---|---|
| 0 | Hand input(Terminal No.9) |
| 1 | Hand input(Terminal No.10) |
| 2 | Hand input(Terminal No.11) |
| 3 | Hand input(Terminal No.12) |
| 4 | Hand input(Terminal No.13) |
| 5 | Hand input(Terminal No.14) |
| 6 | Hand input(Terminal No.15) |
| 7 | Hand input(Terminal No.16) |
Status IO (RC8->External devices)
| Bit | Description | Remarks |
|---|---|---|
| 0 | External Emergency Stop | 0：OFF (When the dual line of both External Emergency Stop input are Short-circuiting.) 1：ON (When one of the dual line of External Emergency Stop input is not Shortcircuiting.) If turning ON the External Emergency Stop, a robot will stop. |
| 1 | Protective Stop | 0：OFF (When the dual line of both Protective Stop input are Short-circuiting.) 1：ON (When one of the dual line of Protective Stop input is not Short-circuiting.) Even if turning ON the Protective Stop, the program of the robot controller does not suspend. Monitor with the external devices regularly, create a robot-stop trajectry and send that data. The robot stops by Emergency stop if the status of the robot controller device (Statusword) is not transitted to except "Operation enabled" after the change of Protective Stop from OFF to ON within 500 ms. |
| 2 | Enable Auto | 0：OFF (When one of the dual line of Enable Auto input is not Short-circuiting.) 1：ON (When the dual line of both Enable Auto input are Short-circuiting.) As the function of EtherCAT Slave Motion operates in the pendantless state, when using this function, the controller's internal mode is auto mode. The dual line of Enable Auto input shall be Short-circuiting. If Enable Auto is OFF, the motor cannot be turned ON. |
| 3 to 7 | Reserved | - |
ID : 2970