Denso RC5 manual Dedicated to Standard Mode

3.2	Usage of System Output Signals (Standard Mode)					27
3.2.1		Robot Initialization Complete (Output)				27
3.2.2		Auto Mode (Output)				28
3.2.3		External Mode (Output)				29
3.2.4		Servo ON (Output)				30
3.2.5		Robot-in-operation (Output)				31
3.2.6		Normal CPU (Output)				32
3.2.7		Robot Failure (Output)				33
3.2.8		Robot Warning (Output)				34
3.2.9		Dead Battery Warning (Output)				35
3.2.10 Continue Start Permitted (Output)						36
3.2.11		SS mode (Output)				36
3.2.12 Emergency Stop (Output from a contact)						37
3.3	Types and Functions of System Input Signals (Standard Mode)					38
3.4	Usage of System Input Signals (Standard Mode)					39
3.4.1		Enable Auto (Input)				39
3.4.2		Robot Stop (Input)				40
3.4.3		Step Stop (All Tasks) (Input)				41
3.4.4		Instantaneous Stop (All Tasks) (Input)				42
3.4.5		Interrupt Skip (Input)				43
3.5	Command Execution I/O Signals					45
				Dedicated to Standard Mode	.................................................
3.5.1		General Information about Commands				45
3.5.2		Processing I/O Commands				46
3.5.3		I/O Commands Details				52
3.6	Example of Using System I/O Signals in Standard Mode					65
Chapter 4 System I/O Signals
			Compatible Mode
4.1	Types and Functions of System Output Signals (Compatible Mode)					69