Denso RC5 manual Types and General Information about I/O Signals, Standard Mode

2.3Types and General Information about I/O Signals

This section describes the I/O signals for the Robot Controller.

The I/O signals are grouped into user I/O signals and system I/O signals.

User I/O signals are compatible with conventional signals, including the pin pattern, in compatible mode. Note that the connector pin meanings are different between standard mode and compatible mode. Some of the signal lines used for user I/O in compatible mode are used for system input in standard mode.

Additionally, part of the signal lines used for system I/O in compatible mode is used for command execution I/O signals in standard mode.

2.3.1 Standard Mode

	In standard mode, 30 input points for command execution are used to direct
	program start and other instructions as I/O commands.
	The table below lists the types of I/O signals used in standard mode.
	Types of System I/O Signals Used in Standard Mode
		Fixed by system
Type	No. of	Function
	points
System input	5	Robot stop, Enable Auto, interrupt skip, instantaneous stop (all tasks),
		step stop (all tasks)
		Robot initialization complete, automatic operation mode, external mode,
System output	12	servo ON, robot-in-operation, normal CPU, robot failure, robot warning,
		dead battery warning, continue start permitted, SS mode, emergency
		stop
Input for command	30	Command (4 bits) data area 1 (8 bits), data area 2 (16 bits), odd parity
execution		bit, strobe signal
Output for command	18	Command processing complete, status area (16 bits), odd parity bit
execution
		Controlled by user program
Type	No. of	Function
	points
		Inputs to read the external I/O status with an IN command or IO [ ]
User input	12	variable.
		Used for analysis condition identification, condition satisfaction wait, data
		input from the external device, etc.
User output	24	Outputs to issue a signal to the external device during program execution
		with a SET command, RESET command, etc.
		Inputs to read the external I/O status with an IN command or IO [ ]
Hand input	8	variable.
		Used to confirm the end-effector check status, etc.
Hand output	8	Outputs to issue a signal to the external device with a SET command,
		RESET command, etc.
		Used to control the opening and closing of the end-effector.

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