Denso RC5 manual System I/O Signals Compatible Mode

Chapter 4

System I/O Signals Compatible Mode

4.1Types and Functions of System Output Signals (Compatible

Mode)

The table below lists the system output signals used in the compatible mode.

Types and Functions of System Output Signals to be Used in Compatible Mode

Application	Signal name	Function
	Robot power ON	Outputs when preparations for operation are ready
	complete	to start.
	Auto mode	Outputs when the robot is in auto mode.
Start-up	Servo ON	Outputs when the power to the motor is turned ON.
	CAL complete	Outputs when calibration is completed.
	External mode	Outputs when the robot is in external mode.
Program	Teaching	Outputs when the robot is in manual or teach check
pre-execution check		mode.
	Program start reset	Outputs when execution of the program starts in
		response to the program start signal received.
Program execution	Robot-in-operation	Outputs when the robot is in operation (the program
		is being executed).
	Continue start	Outputs when the continue start is permitted.
	permitted
Program end	Single cycle end	Outputs when the program completes a cycle.
	Normal CPU	Outputs when the CPU (hardware) of the Robot
		Controller is normal.
	Robot failure	Outputs when a failure (such as a servo failure and
		program error) occurs in the robot.
Error/warning	Robot warning	Outputs when a slight error occurs.
	Dead battery warning	Outputs when the voltage of the encoder backup
		battery or memory backup battery lowers.
	Error No.	An error number will be outputted in BCD code if an
		error occurs.
Continue start	Continue start permitted	Outputs when Continue Start is enabled.
		Outputs when the robot is in SS mode. Refer to the
Safe start function	SS mode	SETTING-UP MANUAL, Chapter 3, Subsection 3.4.6
		"SS (Safe Start) Function."
Emergency stop	Emergency stop	Outputs from a contact exclusively designed for an
		emergency stop circuitry.

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