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Chapter 3
System I/O Signals Standard Mode
3.1 Types and Functions of System Output Signals (Standard
Mode)
The table below lists the system output signals used in standard mode.
Types and Functions of System Output Signals to be Used in Standard Mode
Application Signal name Function
Robot initialization
complete
Outputs when preparations for operation are ready to
start.
Auto mode
Outputs when the robot is in Auto mode.
External mode Outputs when the robot is in external mode.
Start-up
Servo ON
Outputs when the power to the motor is turned ON.
Program execution Robot-in-operation
Outputs when the robot is in operation (the program is
being executed).
Normal CPU
Outputs when the CPU (hardware) of the Robot
Controller is normal.
Robot failure
Outputs when a serious error, such as a servo error
and a program error, occurs.
Robot warning Outputs when a slight error occurs.
Error/Warning
Dead battery warning
Outputs when the voltage of the encoder back-up
battery or memory back-up battery dangerously low.
Continue start
Continue start
permitted
Outputs when Continue Start is enabled.
Safe start function SS mode
Outputs when the robot is in SS mode. Refer to the
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.