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6.1.2 Connector Pin Assignment in Standard Mode
(1) OUTPUT CN10: User-/System-output connector (standard mode)
CN10 Pin Assignment, in standard mode (PNP type)
View from the cable side
Terminal
number
Name
Port
number
Wire
color
Terminal
number
Name
Port
number
Wire
color
1 Normal CPU 72 Black 35 User output 106 Pink
2 Robot in operation 73 Brown 36 User output 107 Pink
3 Robot failure 74 Red 37 User output 108 Pink
4 Servo ON 75 Orange 38 User output 109 Pink
5 Robot initialization complete 76 Yellow 39 User output 110 Pink
6 Automatic mode 77 Black 40 User output 111 White
7 External mode 78 Brown 41 User output 112 White
8 Dead battery warning 79 Red 42 User output 113 White
9 Robot warning 80 Orange 43 User output 114 White
10 Continue start permitted 81 Yellow 44 User output 115 White
11 SS mode 82 Green 45 User output 116 White
12 Reserved 83 Blue 46 User output 117 White
13 Reserved 84 Violet 47 User output 118 White
14 Reserved 85 Gray 48 User output 119 White
15 Command processing complete 86 Pink 49 User output 120 White
16 Status area odd parity 87 Black 50 User output 121 Gray
17 Status area bit 0 88 Black 51 User output 122 Violet
18 Status area bit 1 89 Brown 52 User output 123 Violet
19 Status area bit 2 90 Red 53 User output 124 Violet
20 Status area bit 3 91 Orange 54 User output 125 Violet
21 Status area bit 4 92 Yellow 55 User output 126 Violet
22 Status area bit 5 93 Green 56 User output 127 Violet
23 Status area bit 6 94 Blue 57 Not used. Violet
24 Status area bit 7 95 Gray 58 Not used. Violet
25 Status area bit 8 96 Pink *59
[ Power supply for Robot
stop 1 (Internal +24V) ]
Violet
26 Status area bit 9 97 Brown *60 [ Robot stop 1 ] Gray
27 Status area bit 10 98 Red *61
[ Power supply for Robot
stop 2 (Internal +24V) ]
Gray
28 Status area bit 11 99 Orange *62 [ Robot stop 2 ] Gray
29 Status area bit 12 100 Yellow *63 [ Emergency stop (+) ] Gray
30 Status area bit 13 101 Green *64 [ Emergency stop (-) ] Gray
31 Status area bit 14 102 Blue 65 Emergency stop 2 (+) Gray
32 Status area bit 15 103 Pink 66 Emergency stop 2 (-) Gray
33 User output 104 Black *67 [ Deadman switch (+) ] Blue
34 User output 105 Brown *68 [ Deadman switch (-) ] Blue
NOTE 1: The optional I/O cable for the above connector consists of twisted pair wires--pairs of #1 and #35,
#2 and #36, #34 and #68.
NOTE 2: The terminal number marked with ( * ) is used only for “Dual emergency stop type”.