Index

SYSTEM I/O SIGNALS GUIDE

    > Configuring the I/O Allocation Mode Parameter

    > Types and Functions of System Output Signals

        > Usage of System Output Signals

            > 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

            > Pendant Emergency Stop (output)

            > Deadman SW [Enable SW] (output)

            > Contactor Contact Monitor (output)

    > Types and Functions of System Input Signals

        > Usage of System Input Signals

            > Step Stop (All tasks) (input)

            > External Emergency Stop (input)

            > Enable Auto(input)

            > Protective Stop(input)

        > Command Execution I/O Signals

            > Outline of I/O Command Processing

            > Command and Data Areas

            > Strobe Signal (input)

            > Command Processing Completed (output)

            > List of I/O Commands

            > OPERATION PREPARATION (000)

            > CLEAR ROBOT ERROR (001)

            > PROGRAM START (010)

            > CONTINUE START (011)

            > SPECIFIED PROGRAM RESET (100)

            > ALL PROGRAMS RESET (101)

    > Example of Using System I/O Signals

        > Outline of procedure

        > Start and stop procedure, and system I/O signals

    > [Standard Mode] Types and Functions of System Output Signals

        > Robot Initialization Complete (Output)

        > Auto Mode (Output)

        > External Mode (Output)

        > Servo ON (Output)

        > Robot-in-operation (Output)

        > Robot Error (Output)

        > Robot Warning (Output)

        > Dead Battery Warning (Output)

        > Continue Start Permitted (Output)

        > Output signal during program stop process

    > [Standard Mode] Types and Functions of System Input Signals

        > Step Stop (All Tasks) (Input)

        > Instantaneous Stop (All Tasks) (Input)

        > Interrupt Skip (Input)

        > Command Execution I/O Signals Dedicated to Standard Mode

            > General Information about Processing

            > Command and Data Areas

            > Strobe Signal (Input)

            > Command Processing Complete (Output)

            > Status Area

        > List of I/O Commands

            > Program Operation Command(0001)

            > External Speed and Acceleration Setting(0010)

            > Error Read(0100)

            > Type I Variable Write(0101)

            > Type I Variable Read(0110)

            > Mode Switching(0111)

            > Clear Robot Error (1000)

            > I/O Write(1001)

            > I/O Read(1010)

    > [Compatible Mode] Types and Functions of System Output Signals

        > Robot Power ON Complete

        > Auto Mode (Output)

        > Servo ON (Output)

        > CAL Complete (Output)

        > External Mode (Output)

        > Teaching (Output)

        > Program Start Reset (Output)

        > Robot-in-operation (Output)

        > Single-Cycle End (Output)

        > Robot Error (Output)

        > Robot Warning (Output)

        > Dead Battery Warning (Output)

        > Error No. (Output)

        > Continue Start Permitted (Output)

    > [Compatible Mode] Types and Functions of System Input Signals

        > Operation Preparation Start (Input)

        > Program No. Select (Input)

        > Program Start (Input)

        > Program Reset (Input)

        > Step Stop (All Tasks) (Input)

        > Instantaneous Stop (All Tasks) (Input)

        > Clear Robot Error (Input)

        > Interrupt Skip (Input)

        > Continue Start (Input)

    > Status output with user output ports

        > Running Stop Processing

        > Robot controller startup completed

        > Robot Running(Position designation）

        > Robot Running(Encoder)

        > Change Battery

        > Motor OFF indicator

        > 32bit Error Code Output