Setup Of Special I/Oparameter - Mitsubishi Electric MELFA CR800-D Series Instruction Manual

7.2.2. Setup of special I/O parameter
To execute in the appendix sample rudder program, so the MELSEC sequencer control the robot
controller, set up the special I/O parameter as shown below. After the setup turn off the power supply
once of robot controller, because of to enable the parameter.
Table 7.2-2 Special I/O parameter
Parameter
Item
name
Input
IOENA
Output
ATEXTMD
Output
Input
SRVON
Output
Input
SLOTINIT
Output
Input
PRGOUT
Output
PRGSEL
Input
Input
START
Output
Input
ERRRESET
Output
Input
STOP2
（*1）
Output
Input
SRVOFF
Output
Input
DIODATA
Register
（*2） Output
Register
(*1) The Skip input N
"STOP2" for stop input signal of CC-Link
(*2) In CC-Link, it is possible to specify the program number and the OVRD value with the parameter
"DIODATA" (the register input, the register output).
In the rising edge of the signal assigned to the parameter "PRGSEL" or "OVRDSEL", the
numerical value of the input register is set as the "program number" and the "OVRD value."
However, in case of the parameter "IODATA" is set, be careful the higher priority is IODATA.
And, the "program number" and the "error number" are outputted to the specified output register
in the rising edge of the signal assigned to the parameter "PRGOUT", "ERROUT", etc.
In case of the parameter "IODATA" is set, it is outputted also to the specified signal number.
Setting
Name
value
Operation rights input
6000
signal
Operation rights output
6000
signal
Remote mode output
6001
Servo ON input signal
6002
In servo ON output
6002
signal
Program reset
6003
Program selection
6003
enabled output
Program No. output
6004
request
Program No. output
6004
signal
Program selection input
6005
signal
6006 Start input
Operating output
6006
6007
Error reset input signal
Error occurring output
6007
signal
6008
Stop input
Pausing output
6008
Servo OFF input signal
6009
Servo ON disable
6009
output signal
Numeric value input
6000
Numeric value output
6000
o. 0 is being fixed to the remote input No. 0. Therefore use the parameter
Sets the validity of the operation rights for the
external signal control.
Outputs the operation rights valid state for the
external signal
This output indicates that the key switch on the
operation panel is set to AUTO (Ext.), which is a
remote operation mode.
This input turns ON the servo power supply for
the robot.
This output turns ON when the servo power
supply for the robot is ON.
This input cancels the paused status of the
program and brings the executing line to the top.
Executing a program reset makes it possible to
select a program.
Outputs that in the program selection enabled
state.
The program number for task slot 1 is output to
the numerical output (IODATA).
The "program number output in progress" status
is output to the numerical output.
Designates the setting value for the program No.
with numeric value input signals.
This input starts a program.
This output indicates that a program is being
executed.
Releases the error state.
Outputs that an error has occurred.
This input stops the program being executed.
This output indicates that the program is
paused.
This input turns OFF the servo power supply for
the robot.
This output indicates a status where the servo
power supply cannot be turned ON.
The specified numeric values are loaded.
The numeric values of the specified items are
output.
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