Mitsubishi Electric MELFA CR800-D Series - Setup of Special I;Oparameter

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7.2.2. Setup of special I/O parameter
To execute in the appendix sample rudder program, so the MELSEC sequencer control the robot
controller, set up the special I/O parameter as shown below. After the setup turn off the power supply
once of robot controller, because of to enable the parameter.
Table 7.2-2 Special I/O parameter
Parameter
name
Item
Setting
value
Name Details
IOENA
Input
6000
Operation rights input
signal
Sets the validity of the operation rights for the
external signal control.
Output
6000
Operation rights output
signal
Outputs the operation rights valid state for the
external signal
ATEXTMD
Output
6001
Remote mode output
This output indicates that the key switch on the
operation panel is set to AUTO (Ext.), which is a
remote operation mode.
SRVON
Input
6002
Servo ON input signal
This input turns ON the servo power supply for
the robot.
Output
6002
In servo ON output
signal
This output turns ON when the servo power
supply for the robot is ON.
SLOTINIT
Input
6003
Program reset
This input cancels the paused status of the
program and brings the executing line to the top.
Executing a program reset makes it possible to
select a program.
Output
6003
Program selection
enabled output
Outputs that in the program selection enabled
state.
PRGOUT
Input
6004
Program No. output
request
The program number for task slot 1 is output to
the numerical output (IODATA).
Output
6004
Program No. output
signal
The "program number output in progress" status
is output to the numerical output.
PRGSEL
Input
6005
Program selection input
signal
Designates the setting value for the program No.
with numeric value input signals.
START
Input
6006
Start input
This input starts a program.
Output
6006
Operating output
This output indicates that a program is being
executed.
ERRRESET
Input
6007
Error reset input signal
Releases the error state.
Output
6007
Error occurring output
signal
Outputs that an error has occurred.
STOP2
（
*1
）
Input
6008
Stop input
This input stops the program being executed.
Output
6008
Pausing output
This output indicates that the program is
paused.
SRVOFF
Input
6009
Servo OFF input signal
This input turns OFF the servo power supply for
the robot.
Output
6009
Servo ON disable
output signal
This output indicates a status where the servo
power supply cannot be turned ON.
DIODATA
（
*2
）
Input
Register
6000
Numeric value input
The specified numeric values are loaded.
Output
Register
6000
Numeric value output
The numeric values of the specified items are
output.
(*1) The Skip input No. 0 is being fixed to the remote input No. 0. Therefore use the parameter
"STOP2" for stop input signal of CC-Link
(*2) In CC-Link, it is possible to specify the program number and the OVRD value with the parameter
"DIODATA" (the register input, the register output).
In the rising edge of the signal assigned to the parameter "PRGSEL" or "OVRDSEL", the
numerical value of the input register is set as the "program number" and the "OVRD value."
However, in case of the parameter "IODATA" is set, be careful the higher priority is IODATA.
And, the "program number" and the "error number" are outputted to the specified output register
in the rising edge of the signal assigned to the parameter "PRGOUT", "ERROUT", etc.
In case of the parameter "IODATA" is set, it is outputted also to the specified signal number.