Sony B2521E, CAST-AU4 Output, ■Pin assignment

Output

	I/O names in terms	Contents
Connector pin No.		RK card specification	Full-open programmable
	of software
		(including semi-programmable specification)	specification
20	SO1	EMG-OUT, stop switch, stop status output
54	SO2	ERROR, robot error signal
21	SO3	Reserved by system (User cannot use it.)
55	SO4	Drive servo ON signal
22	SO5	ONLINE signal
56	SO6	Reserved by system (User cannot use it.)
23	SO7	Reserved by system (User cannot use it.)
57	SO8	Reserved by system (User cannot use it.)
24	L1	End of cycle output	User output
58	L2	Standby output	User output
25	L3	Error output	User output
59	L4	During operation output	User output
26	L5	Unloading position output (during line mode)	User output
60	L6	*	User output
27	L7	*	User output
61	L8	*	User output
28	L9	*	User output
62	L10	*	User output
29	L11	*	User output
63	L12	*	User output
30	L13	*	User output
64	L14	*	User output
31	L15	*	User output
65	L16	*	User output
32	L17	*	User output
66	L18	*	User output
33	L19	*	User output
67	L20	*	User output
34	L21	*	User output
68	L22	*	User output

*The allocation at L6 to L22 differs depending upon applications. Refer to the Operation Manual of memory card (RK card) for more details.

■Pin assignment

	2		4		6		8		~		30		32		34
1		3		5		7		9	~	29		31		33
		36		38		40		42	~		64		66		68
	35	37			39		41		~	63		65		67

6-2 CAST-AU4/B2521E