Denso RC5 manual Compatible Mode, Compatibility with conventional VS series robots

2.3.2 Compatible Mode

	In the compatible mode, the input and output points are arranged in disregard
	of compatibility with conventional VS series robots.
	The table below lists the types of I/O signals used in compatible mode.
	Types of I/O Signals Used in Compatible Mode
		Fixed by system
Type	No. of	Function
	points
		Inputs to turn ON the power to the robot from the external device (PLC),
System input	22	start CAL or select and start a program instead of operations by the
		operating panel or teach pendant.
System output	27	Outputs to inform the external device (PLC) of the robot status, such as
		robot-in-operation or occurrence of an error.
		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	25	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.
Hand input	8	Inputs to read the external I/O status with an IN command or IO [	]
		variable.
		Used to confirm the end-effector check status, etc.
		Outputs to issue a signal to the external device (valve) with a SET
Hand output	8	command, RESET command, etc.
		Used to control the opening and closing of the end-effector.

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