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(*1) The SelRobot input is used to select the Manipulator for executing Motor Mode,
(*2) The Start input is enabled for the group number specified with SelGroup0-3 bits.
(*3) Specify the Manipulator number with SelRobot0 - 3 as shown in the table below.
(*4) Specify the group number with SelGroup0 - 3 bits as shown in the table below.
RC520 Rev.7
Power Mode, MCALComplete, AtHOME, the output of CurrRobot0 to 3 for remote
output and Motor ON, Motor OFF, Mcal, Home for remote input.
Specified
Manipulator
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
0 : OFF, 1 : ON
Specified
Group No.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
0 : OFF, 1 : ON
Setup & Operation 8. I/O Remote Settings
SelRobot0
SelRobot1
0
0
1
0
0
1
1
1
0
0
1
0
0
1
1
1
0
0
1
0
0
1
1
1
0
0
1
0
0
1
1
1
SelGroup0
SelGroup1
0
0
1
0
0
1
1
1
0
0
1
0
0
1
1
1
0
0
1
0
0
1
1
1
0
0
1
0
0
1
1
1
SelRobot2
SelRobot3
0
0
0
0
0
0
0
0
1
0
1
0
1
0
1
0
0
1
0
1
0
1
0
1
1
1
1
1
1
1
1
1
SelGroup2
SelGroup3
0
0
0
0
0
0
0
0
1
0
1
0
1
0
1
0
0
1
0
1
0
1
0
1
1
1
1
1
1
1
1
1
83
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