Denso RC5 - Page 18

3.2 Usage of System Output Signals (Standard Mode)..................................................................... 27
3.2.1 Robot Initialization Complete (Output) ............................................................................... 27
3.2.2 Auto Mode (Output).............................................................................................................. 28
3.2.3 External Mode (Output) ....................................................................................................... 29
3.2.4 Servo ON (Output)................................................................................................................30
3.2.5 Robot-in-operation (Output)................................................................................................. 31
3.2.6 Normal CPU (Output)........................................................................................................... 32
3.2.7 Robot Failure (Output).........................................................................................................33
3.2.8 Robot Warning (Output)....................................................................................................... 34
3.2.9 Dead Battery Warning (Output)........................................................................................... 35
3.2.10 Continue Start Permitted (Output)...................................................................................... 36
3.2.11 SS mode (Output).................................................................................................................. 36
3.2.12 Emergency Stop (Output from a contact)............................................................................. 37
3.3 Types and Functions of System Input Signals (Standard Mode)................................................ 38
3.4 Usage of System Input Signals (Standard Mode) ....................................................................... 39
3.4.1 Enable Auto (Input).............................................................................................................. 39
3.4.2 Robot Stop (Input)................................................................................................................. 40
3.4.3 Step Stop (All Tasks) (Input)................................................................................................41
3.4.4 Instantaneous Stop (All Tasks) (Input)................................................................................ 42
3.4.5 Interrupt Skip (Input)........................................................................................................... 43
3.5 Command Execution I/O Signals Dedicated to Standard Mode................................................. 45
3.5.1 General Information about Commands................................................................................ 45
3.5.2 Processing I/O Commands.................................................................................................... 46
3.5.3 I/O Commands Details.......................................................................................................... 52
3.6 Example of Using System I/O Signals in Standard Mode .......................................................... 65
Chapter 4 System I/O Signals Compatible Mode
4.1 Types and Functions of System Output Signals (Compatible Mode) ......................................... 69