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B-83284EN/01
Simple allocation
The peripheral I/O signals that the number of signals is small can be used.
Eight input physical signals and four output physical signals are allocated to peripheral I/O signals.
In simple allocation, the number of signals that can be used for general digital I/O is increased because the
number of peripheral I/O signals is decreased, but the functions of peripheral I/O signals are restricted as
shown in the table below.
*1
*2
*3
*4
UI[1]
UI[2]
UI[3]
UI[4]
IMSTP
HOLD
SFSPD
CSTOPI
UI[5]
UI[6]
UI[7]
UI[8]
UI[9]
UI[10]
UI[11]
UI[12]
UI[13]
UI[14]
UI[15]
UI[16]
UI[17]
RESET
START
HOME
ENBL
RSR1/PNS1/STYLE1
RSR2/PNS2/STYLE2
RSR3/PNS3/STYLE3
RSR4/PNS4/STYLE4
RSR5/PNS5/STYLE5
RSR6/PNS6/STYLE6
RSR7/PNS7/STYLE7
RSR8/PNS8/STYLE8
PNSTROBE
UI[18]
PROD_START
Always ON *4
Operable
Always ON *4
Allocated to the same
signal as in RESET *1
Operable
Operable
No allocation
Operable
Operable as PNS1 *3
Operable as PNS2 *3
Operable as PNS3 *3
Operable as PNS4 *3
No allocation
No allocation
No allocation
No allocation
Allocated to the same
signal as in START *2
No allocation
UO[1]
UO[2]
UO[3]
UO[4]
CMDENBL
SYSRDY
PROGRUN
PAUSED
Operable
No allocation
No allocation
No allocation
UO[5]
UO[6]
UO[7]
UO[8]
UO[9]
UO[10]
UO[11]
UO[12]
UO[13]
UO[14]
UO[15]
UO[16]
UO[17]
HELD
FAULT
ATPERCH
TPENBL
BATALM
BUSY
ACK1/SNO1
ACK2/SNO2
ACK3/SNO3
ACK4/SNO4
ACK5/SNO5
ACK6/SNO6
ACK7/SNO7
No allocation
Operable
No allocation
No allocation
Operable
Operable
No allocation
No allocation
No allocation
No allocation
No allocation
No allocation
No allocation
UO[18]
ACK8/SNO8
No allocation
UO[19]
UO[20]
SNACK
RESERVE
No allocation
No allocation
Since CSTOPI and RESET are allocated to the same signal, reset input can forcibly terminate the
program if " CSTOPI for ABORT" is enabled.
Since PNSTROBE and START are allocated to the same signal, the program is selected at the rising
edge (OFF ON) of the START signal and the program is started at the falling edge (ON OFF) of
the START signal.
Only PNS can be used as the program selection method in simple allocation (that START and
PNSTROBE are allocated to the same signal). Even if the program selection method other than PNS is
selected on the Prog Select screen, PNS is automatically selected during power-on.
These signals are assigned to the internal I/O device (rack 35, slot 1) in which the signal is always on.
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B-83284EN/01
JD1A
CRM2B
JD4B
Peripheral device A1
Physical number
01
in 1
02
03
in 2
in 3
04
05
06
in 4
in 5
in 6
07
08
09
10
in 7
in 8
in 9
in 10
11
12
in 11
in 12
13
14
in 13
in 14
15
16
17
in 15
in 16
0V
18
0V
CRM2A
19
20
out 13
out 14
21
22
23
out 15
out 16
24
25
26
27
28
29
30
31
32
33
34
out 1
out 2
35
36
out 3
out 4
37 COM-A1
out 5
38
out 6
39
out 7
40
out 8
41
42 COM-A2
43
out 9
44 out 10
COM-A4
out 17
out 18
out 19
out 20
COM-A5
in 17
45
46
in 18
in 19
47
48
in 20
49
50
out 11
out 12
COM-A3
+24E
+24E
Peripheral
Device input
Peripheral
Device input
Peripheral
Device input
in 1
UI[1]
*IMSTP
UI[1]
*HOLD
out 1
UO[1]
CMDENBL
UO[1]
CMDENBL
in 2
in 3
UI[2]
UI[3]
*HOLD
*SFSPD
UI[2]
UI[3]
FAULT_RESET
START
out 2
out 3
UO[2]
UO[3]
SYSRDY
PROGRUN
UO[2]
UO[3]
FAULT
BATALM
in 4
in 5
UI[4]
UI[5]
CSTOPI
FAULT RESET
UI[4]
UI[5]
ENBL
PNS1
out 4
out 5
UO[4]
UO[5]
PAUSED
HELD
UO[4]
DO[1]
BUSY
in 6
in 7
UI[6]
UI[7]
START
HOME
UI[6]
UI[7]
PNS2
PNS3
out 6
out 7
UO[6]
UO[7]
FAULT
ATPERCH
DO[2]
DO[3]
in 8
in 9
in 10
in 11
UI[8]
ENBL
UI[9]
RSR1/PNS1/STYLE1
UI[10] RSR2/PNS2/STYLE2
UI[11] RSR3/PNS3/STYLE3
UI[8]
DI[1]
DI[2]
DI[3]
PNS4
out 8
out 9
out 10
out 11
UO[8]
UO[9]
UO[10]
UO[11]
TPENBL
BATALM
BUSY
ACK1/SNO1
DO[4]
DO[5]
DO[6]
DO[7]
in 12
in 13
UI[12]
UI[13]
RSR4/PNS4/STYLE4
RSR5/PNS5/STYLE5
DI[4]
DI[5]
out 12
out 13
UO[12] ACK1/SNO2
UO[13] ACK1/SNO3
DO[8]
DO[9]
in 14
in 15
in 16
UI[14]
UI[15]
UI[16]
RSR6/PNS6/STYLE6
RSR7/PNS7/STYLE7
RSR8/PNS8/STYLE8
DI[6]
DI[7]
DI[8]
out 14
out 15
out 16
UO[14] ACK1/SNO4
UO[15] ACK1/SNO5
UO[16] ACK1/SNO6
DO[10]
DO[11]
DO[12]
in 17
in 18
UI[17]
UI[18]
PNSTROBE
PROD_START
DI[9]
DI[10]
out 17
out 18
UO[17] ACK1/SNO7
UO[18] ACK1/SNO8
DO[13]
DO[14]
in 19
in 20
DI[1]
DI[2]
DI[11]
DI[12]
out 19
out 20
UO[19] SNACK
UO[20] RESERVED
DO[15]
DO[16]
WARNING
When connecting the peripheral equipments related to the stop function (for
example Protective Fence) to each signal of a robot (for example external
emergency stop, fence, servo, etc.), confirm whether the stop function can work to
prevent from connecting incorrectly.
B-83284EN/01
The *IMSTP input is on in the normal status. When this signal is turned off, the following processing is
performed:
An alarm is generated and the servo power is turned off.
The robot operation is stopped immediately. Execution of the program is also stopped.
WARNING
The *IMSTP signal is controlled by software. The use of this signal for
safety-critical processing is not recommended. Please use this signal together
with the external emergency stop for safety-critical processing. For details of
external emergency stop signal, refer to the FANUC Robot Series R-30iB
controller MAINTENANCE MANUAL(B-83195EN).
WARNING
The *SFSPD signal controls deceleration and stop by software. To stop the robot
immediately for safety purposes, use this signal together with the FENCE1 or
FENCE2 signal on the operators panel printed circuit board. For details of these
signals, refer to the FANUC Robot Series R-30iB controller MAINTENANCE
MANUAL(B-83195EN).
NOTE
When the *IMSTP, *HOLD, and *SFSPD signals are not used, jumper these signal
lines.
B-83284EN/01
WARNING
When FALSE is selected for CSTOPI for ABORT on the Config system setting
screen, CSTOPI does not stop the program being executed until the execution is
complete.
NOTE
When the ENBL signal is not monitored, strap the signal with the ground.
B-83284EN/01
When TRUE is selected for START for CONTINUE only on the Config system setting screen, a
temporarily stopped program is continued. When the program is not temporarily stopped, it cannot be
started.
NOTE
To start a program from a peripheral device, the RSR or PROD_START input is
used. To start a temporarily stopped program, the START input is used.
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B-83284EN/01
Procedure 3-5
Step
1
2
3
4
5
6
CONFIG
IN/OUT
>
To switch the input screen to the output screen, or vice versa, press the F3, IN/OUT.
To allocate I/O, press F2,CONFIG.
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B-83284EN/01
RANGE
RACK SLOT START STAT.
UI[ 18]
0
1
1 ACTIV
UI[ 9- 16]
0
1
9 ACTIV
UI[ 17- 18]
0
1
17 ACTIV
MONITOR
IN/OUT
DELETE
HELP
>
1/1
[ TYPE ]
Comment:
[*IMSTP
PRV-PT
NXT-PT
1]
]
NOTE
The comment of peripheral equipment I/O is written by the tool software and can
be changed. Even if the comment is rewritten, the function is not changed.
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B-83284EN/01
10
11
12
To set the item, move the cursor to the setting column, and select the function key menu.
When you are finished, press the PREV key to return to the selection screen.
Turn off the controller. Turn on the controller so it can use the new information.
WARNING
Power should be turned on again to make a new setting valid. Otherwise, injury or
property damage would occur.
CAUTION
1 In the first power-up after I/O re-allocation, power failure recovery would not be
executed even if it is enabled.
2 After all I/O signals are set, the setting information should be saved in external
storage in case the information needs to be re-loaded. Otherwise, the current
setting information would be lost when it is changed.
3.4
The operators panel I/O means dedicated digital signals for passing data indicating the status of the buttons
and LEDs on the operators panel/box. The status of each input signal depends on whether the
corresponding button on the operators panel is on or off. Each output signal is used to turn the
corresponding LED lamp on the operators panel on or off.
For the operators panel I/O, the signal numbers cannot be mapped (redefined). Sixteen input and sixteen
output signals are defined as standard. For the definition of the signals of the operators panel I/O, see Fig.
3.4.
When the operators panel is enabled, the operators panel I/O can be used to start a program. However, any
signals which have a significant effect on safety are always enabled.
The operators panel is enabled when the following operators panel enable conditions are satisfied:
The enable switch on the teach pendant is set to off.
The remote signal (SI[2]) is off. (For how to turn the remote signal on and off, see the description of
Remote/Local setup in Section 3.15, SYSTEM CONFIG MENU.)
The *SFSPD input of the peripheral device I/O is on.
To start a program involving operation (group), the following conditions must be satisfied:
The ENBL input of the peripheral device I/O is on.
The servo power is on (not in the alarm state).
Main CPU printed
circuit boad
Operators panel
Logical
number
SI 0
SI 1
SI 2
SI 3
SI 4
SI 5
SI 6
SI 7
Operators
panel input
Logical
number
Operators
panel output
SO 0 REMOTE LED
SO 1 CYCLE START
SO 2 HOLD
SO 3 FAULT LED
SO 4 BATTERY ALARM
SO 5 USER#1
SO 6 USER#2
SO 7 TPENBL
FAULT_RESET
REMOTE
*HOLD
USER#1
USER#2
START
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