Epson T-B Series - Pin Assignments; How to Control Hand I;O

T3-B T6-B Manipulator 13. Hand I/O Connector
T-B series Rev.1 121
13.4 Pin Assignments
The following is pin assignments of Hand I/O connector (D-sub 15 pin male).
Pin No.
Signal Name
Pin No.
Signal Name
1
Input No.18
9
Input No.19
2
Input No.20
10
Input No.21
3
Input No.22
11
Input No.23
4
Input common
No.18 to 23
12
Not Used
5
+24V
13
GND
6
Output No.12
14
Output No.13
7
Output No.14
15
Output No.15
8
Output common
No.12 to 15
Connector
Standard
Hand I/O connector
D-Sub 15 pin female (manipulator side)
D-Sub 15 pin male (cable side)
* I/O connector is included with shipment.
13.5 How to Control Hand I/O
T-B series has I/O (Input: 6 bit, Output: 4 bit) for hand control I/O.
Input bit port: 18, 19, 20, 21, 22, 23
Output bit port: 12, 13, 14, 15
How to operate
Hand I/O is only supported for bit port operation commands. Byte or word commands are
not supported.
Available commands
Command
Function
Sw
Input bit port I/O.
SetSw
Set an input of virtual I/O.
On Turn ON the output bit.
Off
Turn OFF the output bit.
Restriction 1: Remote I/O
Hand I/O cannot be set in Remote I/O.
Restriction 2: Input/Output by byte port or word port
There are restrictions to operate input/output of standard I/O by byte or word port since
hand I/O is included in byte port and word port.
Input: Always “0” is read for bit of hand I/O.
Output: Execute error occurs when specifying “1” for bit of hand I/O.