Denso RC5 manual 100

4.2	Usage of System Output Signals in the Compatible Mode		70
4.2.1		Robot Power ON Complete	70
4.2.2		Auto Mode (Output)	71
4.2.3		Servo ON (Output)	72
4.2.4		CAL Complete (Output)	73
4.2.5		External Mode (Output)	74
4.2.6		Teaching (Output)	75
4.2.7		Program Start Reset (Output)	76
4.2.8		Robot-in-operation (Output)	77
4.2.9		Single-Cycle End (Output)	78
4.2.10		Normal CPU (Output)	79
4.2.11		Robot Failure (Output)	80
4.2.12		Robot Warning (Output)	81
4.2.13		Dead Battery Warning (Output)	82
4.2.14		Error No. (Output)	83
4.2.15		Continue Start Permitted (Output)	84
4.2.16		SS mode (Output)	84
4.2.17		Emergency Stop (Output from a contact)	85
4.3	Types and Functions of System Input Signals (Compatible Mode)		86
4.4	Usage of System Input Signals in Compatible Mode		87
4.4.1		Enable Auto (Input)	87
4.4.2		Operation Preparation Start (Input)	88
4.4.3		Program No. Select (Input)	90
4.4.4		Program Start (Input)	92
4.4.5		Program Reset (Input)	98
4.4.6		Robot Stop (Input)	100
4.4.7		Step Stop (All Tasks) (Input)	101
4.4.8		Instantaneous Stop (All Tasks) (Input)	102
4.4.9		Clear Robot Failure (Input)	103
4.4.10		Interrupt Skip (Input)	104
4.4.11		Continue Start (Input)	105
4.5	Example of Using System I/O Signals in Compatible Mode		106