Mitsubishi Electric CR750-Q Instruction Manual page 584

6External input/output functions
Parameter
Class
name
ERROUT Input Error No. output
request
Output Error No. output signal The "error number output in progress" status is
JOGENA Input Jog valid input signal
(Operation
right
required)
Output Jog valid output signal Outputs that the jog operation is entered.
JOGM Input Jog mode input
(start No., end No.)
Output Jog mode output
(start No., end No.)
JOGMENO Input Jog mechanism num-
ber input
*Available soft-
ware versions
(start No., end No.)
S/W Ver.
F-Q series:
Output Jog mechanism num-
R5 or later
ber output
F-D series:
S5 or later
(start No., end No.)
JOG+ Input Jog feed plus side for 8-
axes
(start No., end No.)
Output
JOG- Input Jog feed minus side for
8-axes
(start No., end No.)
Output
6-564 Dedicated input/output
Name
The error number is output to the numerical
output (IODATA). After the start of inputting
this signal to the robot, wait at least 15 ms
before reading the numerical output (IODATA)
signal.
output to the numerical output.
Jogs the designated axis in the designated
mode.
Operation takes place while this signal is ON.
Designates the jog mode.
0/1/2/3/4/5 = Joint/ XYZ/ Cylindrical/ 3-axis
Note) For Ex-T control or Ex-T jog, refer to
Page 677, "7.4 Ex-T
Outputs the current jog mode.
Designates the mechanism number.
If this parameter is not specified, mechanism
number is fixed to machine 1.
Outputs the current mechanism number.
Designates the jog operation axis.
JOINT jog mode: J1, J2, J3, J4, J5, J6, J7 and
J8 axes from the start number.
XYZ jog mode: X, Y, Z, A, B, C, L1 and L2
axes from the start number.
CYLINDER jog mode: X, θ , Z, A, B, C, L1 and
L2 axes from the start number.
3-axis XYZ jog mode: X, Y, Z, J4, J5 and J6
axes from the start number.
Tool jog mode: X, Y, Z, A, B and C axes from
the start number.
WORK jog mode (Ex-T jog mode): X, Y, Z, A,
B and C axes from the start number.
Note) For Ex-T control or Ex-T jog, refer to
Page 677, "7.4 Ex-T
-
Designates the jog operation axis.
JOINT jog mode: J1, J2, J3, J4, J5, J6, J7 and
J8 axes from the start number.
XYZ jog mode: X, Y, Z, A, B, C, L1 and L2
axes from the start number.
CYLINDER jog mode: X, θ , Z, A, B, C, L1 and
L2 axes from the start number.
3-axis XYZ jog mode: X, Y, Z, J4, J5 and J6
axes from the start number.
Tool jog mode: X, Y, Z, A, B and C axes from
the start number.
WORK jog mode (Ex-T jog mode): X, Y, Z, A,
B and C axes from the start number.
Note) For Ex-T control or Ex-T jog, refer to
Page 677, "7.4 Ex-T
-
Function
XYZ/ tool/Work (Ex-T)
control".
control".
-
control".
-
Factory shipment signal number.
Signal
Input, output
level
Note1)
CR7xx-Q
Edge 10025, -1,
10025 -1
Level -1, -1,
-1 -1
Level Note3) Note3)
-1(Start bit),
-1(Start bit),
-1(End bit),
-1(End bit),
-1(Start bit),
-1(Start bit),
-1(End bit)
-1(End bit)
Level -1(Start bit), -1(Start bit),
-1(End bit), -1(End bit),
-1(Start bit), -1(Start bit),
-1(End bit) -1(End bit)
Level
Note4) Note4)
-1,
-1,
-1
-1
Level
Note4) Note4)
-1, -1,
-1 -1
CR7xx-D