1
20
2
21
3
22
4
23
5
24
6
25
7
26
8
27
9
28
10
29
11
30
12
31
13
32
14
33
15
34
16
35
17
18
19
36
37
CASE
System
input signal
(1)
(2)
(3)
(4)
User side
(6)
(7)
(8)
DI_1
DI_2
DI_3
DI_4
DI_5
DI_6
DI_7
DI_8
P24V
P24G
INCOM
STROBE
PRG_ RST
STEP_RST
CYC_ RST
DO_ RST
ALM_RST
RUN
EX_SVON
P24V
P24G
SYSINCOM
XM3A-3721
(Dsub-37S)
Robot controller
FG
(5)
( ) Signal name of DIN command
Connector
(INPUT)
P24G
SYSINCOM
P24V
( 257)
( 258)
( 259)
( 260)
( 261)
Digital input
signal
STOP
CYCLE
LOW_SPD
BREAK
SVOFF
Strobe
( 249)
( 250)
( 251)
( 252)
( 253)
( 254)
( 255)
( 256)
DI_*
ＩＮＣＯＭ
Connector
(EXT I/O)
*In the figure, an example is shown where
common signals (INCOM and SYSINCOM) are
connected to P24G.
INCOM and SYSINCOM are branched.
INCOM,
SYSINCOM
External power
supply detection
circuit
SYSＩＮＣＯＭ
5
4
3
2
1
Note: To use the INPUT and OUTPUT signals,
supply P24V from the external equipment.
Unless power is input from the EXT I/O
connector on the front panel, an error occurs in
the detection circuit.
IN_P24V
IN_P24G
*Common for digital input
*Common for system input
Program reset
Step reset
Cycle reset
Output signal reset
Alarm reset
Start
External servo ON
Stop
Cycle mode
Low speed command
Deceleration and stop
Servo off
Fig. 4.4 Connection of external input signal cable (Type P)
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