Denso RC5 Program No. Select Input, No.11 to No.18 of connector CN8, Program No. Select Signal

4.4.3Program No. Select (Input)

(1)Function

The program number to be executed can be specified from the external device by inputting this signal.

(2)Terminal numbers

No.11 to No.18 of connector CN8.

(3)Input conditions and operation

•This signal is executable only in the external mode. In other modes, an error (ERROR21E2, 21E4, 21E6) will be displayed, and the terminal

motor power will be turned OFF.

‚As shown in the table given on the next page, the program No. select

signal is made up of eight bits of 20 to 26 and the parity bit.

ƒInput a decimal program number by converting it into binary 20 to 26 and parity bit.

„"Short" represents the bit value = 1, "open" represents the bit value = 0, and the parity bit is odd parity.

…As shown below, input the program No. select signal before the program start signal (1 msec. or more), and hold the state until the robot starts to operate. If this condition is not met, ERROR2031 or ERROR2033 will be displayed, the power to the motor will be turned OFF, and the mode will be switched to the Auto mode.

					Wait for start
							Single-cycle operation
Robot status				or preceding cycle
			ON (shorted)
Program
start (input)			OFF (open)
						1 ms. or more required
		Program No. select signal
	20 to 26		ON (shorted)
	Parity		OFF (open)

Program No. Select Signal

†Input 1 or 0 as the parity bit so that the total of 1’s existing in the eight bits of 20 to 26 and the parity bit will be odd.

Example: When the program number is 15, the bit status of 20 to 26 is (001111), and the total number of 1s is four, an even number. Set 1 as the parity bit to make the total number of 1s five, an odd number.

Caution Q The bit value =1 represents short, and the bit value =0 represents open.

RThe program numbers executable from the external device are limited to Pro0 to Pro127.

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