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4.2 Usage of System Output Signals in the Compatible Mode......................................................... 70
4.2.1 Robot Power ON Complete ................................................................................................... 70
4.2.2 Auto Mode (Output).............................................................................................................. 71
4.2.3 Servo ON (Output)................................................................................................................ 72
4.2.4 CAL Complete (Output)........................................................................................................ 73
4.2.5 External Mode (Output) ....................................................................................................... 74
4.2.6 Teaching (Output) ................................................................................................................. 75
4.2.7 Program Start Reset (Output).............................................................................................. 76
4.2.8 Robot-in-operation (Output) ................................................................................................. 77
4.2.9 Single-Cycle End (Output).................................................................................................... 78
4.2.10 Normal CPU (Output)........................................................................................................... 79
4.2.11 Robot Failure (Output) ......................................................................................................... 80
4.2.12 Robot Warning (Output) ....................................................................................................... 81
4.2.13 Dead Battery Warning (Output)........................................................................................... 82
4.2.14 Error No. (Output) ................................................................................................................ 83
4.2.15 Continue Start Permitted (Output)...................................................................................... 84
4.2.16 SS mode (Output).................................................................................................................. 84
4.2.17 Emergency Stop (Output from a contact)............................................................................. 85
4.3 Types and Functions of System Input Signals (Compatible Mode)........................................... 86
4.4 Usage of System Input Signals in Compatible Mode.................................................................. 87
4.4.1 Enable Auto (Input) .............................................................................................................. 87
4.4.2 Operation Preparation Start (Input).................................................................................... 88
4.4.3 Program No. Select (Input)................................................................................................... 90
4.4.4 Program Start (Input)........................................................................................................... 92
4.4.5 Program Reset (Input) .......................................................................................................... 98
4.4.6 Robot Stop (Input)............................................................................................................... 100
4.4.7 Step Stop (All Tasks) (Input).............................................................................................. 101
4.4.8 Instantaneous Stop (All Tasks) (Input).............................................................................. 102
4.4.9 Clear Robot Failure (Input)................................................................................................ 103
4.4.10 Interrupt Skip (Input)......................................................................................................... 104
4.4.11 Continue Start (Input)........................................................................................................ 105
4.5 Example of Using System I/O Signals in Compatible Mode..................................................... 106