3-6
3
I/O INTERFACE
3-2 Input Signal Description
3-2-2 General-purpose input (DI0 to DI15)
These general-purpose inputs are available to users for handling data input in a program.
These inputs are usually connected to sensors or switches. These inputs can also be directly con-
nected to a PLC output circuit.
As a special function during execution of an ABS-PT or INC-PT point movement command, DI0 to
DI9 can be used to specify the point numbers and DI10 and DI11 to specify the movement speed.
As the table below shows, the point numbers should be input with DI0 to DI9 in binary code, to
specify P0 to P999. The movement speed is specified as 100% when DI10 and DI11 are off. In other
cases, it is set to the speed specified by the parameter. (See "5-2 Parameter Description".)
In addition, DI13 and DI14 can be used to select the robot axis by parameter settings. (See "5-2
Parameter Description".)
Example of point number setting
DI9
(2
9
)
DI No.
Point No.
P0
P1
P3
P7
P15
P31
P63
P127
P254
P511
P999
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
DI8
(2
8
)
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
ON
DI7
(2
7
)
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
ON
ON
DI6
(2
6
)
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
ON
ON
ON
DI5
(2
5
)
OFF
OFF
OFF
OFF
OFF
OFF
ON
ON
ON
ON
ON
DI4
(2
4
)
OFF
OFF
OFF
OFF
OFF
ON
ON
ON
ON
ON
OFF
DI3
(2
3
)
OFF
OFF
OFF
OFF
ON
ON
ON
ON
ON
ON
OFF
DI2
(2
2
)
OFF
OFF
OFF
ON
ON
ON
ON
ON
ON
ON
ON
DI1
(2
1
)
OFF
OFF
ON
ON
ON
ON
ON
ON
ON
ON
ON
DI0
(2
0
)
OFF
ON
ON
ON
ON
ON
ON
ON
OFF
ON
ON
Example of point movement speed setting
DI11 DI10
OFF
ON
OFF
ON
Movement speed
100%
PRM5
PRM6
PRM7
OFF
OFF
ON
ON
Example of point movement axis specification
DI14 DI13
OFF
ON
OFF
ON
Movement axis
All axes
X-axis
Y-axis
All axes
OFF
OFF
ON
ON
* DI15 functions as the SERVICE mode input when the SERVICE mode function is enabled.
In this case, DI0 to DI14 can be used as the general-purpose inputs.
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