External Control (I/O / Fieldbus) 39 DESKTOP ROBOT JR3000
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Emergency Stop (#sysOut7)
This signal comes ON when an “Emergency Stop Error” occurs (the emergency stop switch is
pressed, etc.). When this signal is ON, the Error (#sysOut6) signal comes ON at the same time.
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Position Error (#sysOut8)
If the Teaching Mode menu [All Program Common Settings] [Other Parameters] [Position
Error Check] is set to [Valid], the position sensor will check for position errors just before the
robot finishes running (before returning to the work home position.) This signal comes ON if a
position error is detected.
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Free (#sysOut9 – 16)
The default status for the #sysOut9 – 16 signals is Free.
These signals are useable as free signals unless their functions are changed in [I/O-SYS
Function Assignment].
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Finish Initialize (#sysOut12)
This signal comes ON when the mechanical initialization is complete. This is always ON
except at times when a mechanical initialization is required, such as an emergency stop, etc.
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Others
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COM+ (DC 24 V)
If I/O-SYS is using an external power supply, connect the COM+ pin to the plus pole of the
external power supply (DC 24 V).
If I/O-SYS is using the internal power supply, DC 24 V (+) is output.
•
COM- (GND)
If I/O-SYS is using an external power supply, connect the COM- pin to the external power
supply ground.
If I/O-SYS is using the internal power supply, use the pin as a common ground.
Caution
When I/O-SYS is using the internal power supply, do not connect the robot to an
external power supply. Doing so causes unit breakdown.
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