138
(3) I/O signal assignment
The controller's I/O port signal varies depending on the parameter No.25 setting.
[Refer to 3.8 Remote I/O Mode]
Set the parameter No.25 of MCON
Positioning mode Teaching mode 256-point mode
0 1 2
Category
Port
No.
Symbol
Signal Name
Symbol Signal Name Symbol Signal Name
0 PC1 PC1 PC1
1 PC2 PC2 PC2
2 PC4 PC4 PC4
3 PC8 PC8 PC8
4 PC16 PC16 PC16
5 PC32
Specified position No.
PC32
Specified position No.
PC32
6 – MODE
Teaching mode
command
PC64
7 – JISL
Jog/inching switching
PC128
Specified position No.
8 –
Unavailable
JOG+
+Jog
–
Unavailable
9 BKRL
Brake release
JOG-
-Jog
BKRL
Brake release
10 –
Unavailable
–
Unavailable
–
Unavailable
11 HOME
Home return
HOME
Home return
HOME
Home return
12 *STP
Pause
*STP
Pause
*STP
Pause
13 CSTR
Positioning start
CSTR/
PWRT
Positioning start/
Position data import
command
CSTR
Positioning start
14 RES
Reset
RES
Reset
RES
Reset
PLC output
→
MCON input
15 SON
Servo ON command
SON
Servo ON command
SON
Servo ON command
0 PM1 PM1 PM1
1 PM2 PM2 PM2
2 PM4 PM4 PM4
3 PM8 PM8 PM8
4 PM16 PM16 PM16
5 PM32
Completed position No.
PM32
Completed position No.
PM32
6 MOVE
Moving signal
MOVE
Moving signal
PM64
7 ZONE1
ZONE1
MODES
Teaching mode signal
PM128
Completed position
No.
8
(Note 1)
PZONE/
ZONE2
Position zone/
Zone 2
PZONE/
ZONE1
Position zone/
Zone 1
PZONE/
ZONE1
Position zone/
Zone 1
9 –
Unavailable
–
Unavailable
–
Unavailable
10 HEND
Home return completion
HEND
Home return
completion
HEND
Home return
completion
11 PEND
Positioning completion
signal
PEND/
WEND
Positioning completion
signal/Position data
import complete
PEND
Positioning
completion signal
12 SV
Operation preparation
end
SV
Operation preparation
completion
SV
Operation preparation
end
13 *EMGS
Emergency stop
*EMGS
Emergency stop
*EMGS
Emergency stop
14 *ALM
Alarm
*ALM
Alarm
*ALM
Alarm
MCON output
→
PLC input
15
LOAD
/TRQS
*ALML
Torque check
(Note 2)
/
Light malfunction output
*ALML
Light malfunction output
LOAD
/TRQS
*ALML
Torque check
(Note 2)
/
Light malfunction
output
Note 1 It is available to change in Parameter No. 149 Zone Output Switchover.
Note 2 It is available to change in Parameter No. 156 Torque Inspection / Light Malfunction Output Select for the pulse
motor driver.
It is the light malfunction output for the servo motor driver / brushless DC motor driver.
(Note) “*” in codes above shows the signal of the active low. (A signal of active low is a signal that the input signal is
processed when it is turned OFF, output signal is ordinarily on while the power is ON, and turns OFF when the
signal is output.)
3.4 Fieldbus Type Address Map
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