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8.2 Remote I/O Signal Descriptions (SPEL CT)
You may use either Standard I/O or Expansion I/O for remote control. To use all
signals, you will need to add Expansion I/O.
8.2.1 Remote Input Signals
Remote inputs are used to control the Manipulators and start programs.
conditions must be met before inputs are enabled, as shown in the table below.
The remote input signals for SPEL CT are as follows:
Motor ON
Motor OFF
MCAL
HOME
Mnp.No.0
Mnp.No.1
Mnp.No.2
Mnp.No.3
Sel Mnp
START
PAUSE
RESET
Grp No.0
Grp No.1
Grp No.2
Grp No.3
RECOVER
RESTART
ABORT ALL
READY
SHUTDOWN * Shuts down the Controller. Disabled when tasks are running.
* The SHUTDOWN has been supported since SPEL CT Ver.3.1.
(*1) Sel Mnp input is used to define the Manipulator for executing Motor Mode, Motor
RC520 Rev.7
Name
Motor power ON input
Motor power OFF input
Execute MCAL (initializes a Manipulator to the mechanical origin
position) input
Execute HOME (move to home position) input
Inputs the Manipulator number as determined by Sel Mnp signal.
(*3)
The Manipulator number changing input. (*1)
Input for executing a task (main function) or for continuous
execution of all tasks. (*2)
Input for pausing the Controller
Input for releasing the Emergency Stops, and errors, and for
interrupting all tasks including background tasks
Specifies the group number of the project for enabling START
input. (*4)
Input for canceling the Emergency Stop status and for returning all
Manipulator s to the status before Emergency Stop
Input for terminating tasks being executed and restarting the
background and main functions
Input for terminating ordinary tasks except for background tasks
Input for terminating all tasks except for Emergency Stop
cancellation, error cancellation and background tasks
Status, Power Mode, Power Status, MCALed, HOME, the output of Mnp.No.0 to 3
for remote output and Motor ON, Motor OFF, MCAL, HOME for remote input.
Setup & Operation 8. I/O Remote Settings
Description
Certain
85
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