安川机器人IO信号对照表.pdf

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1、安川机器人信号IO对照表注：梯形图修改完--编辑--编译注释命令内部编号内部继电器编号外部IO编号外部输入外部输出输入输出专用输入专用输出外部输入外部输出外部启动运转中SIN#0001SOUT#000140010500102001030010伺服接通中SIN#0002SOUT#000240011500112001130011调出主程序主程序首条SIN#0003SOUT#000340012500122001230012清除报警、错误发生报警、错误SIN#0004SOUT#000440013500132001330013电池报警SIN#0005SOUT#000540014500142001

2、430014再现模式的选择当前远程模式SIN#0006SOUT#000640015500152001530015示教模式的选择当前再现模式SIN#0007SOUT#000740016500162001630016（优先）当前示教模式SIN#0008SOUT#000840017500172001730017禁止进入干涉区1立方体干涉区1内SIN#0009SOUT#000940020500202002030020禁止进入干涉区2立方体干涉区2内SIN#0010SOUT#001040021500212002130021禁止作业（禁止接作业原点（立方体SIN#0011SOUT#00114002

3、2500222002230022通工具ON）32、64内）作业响应可中途启动SIN#0012SOUT#001240023500232002330023禁止进入干涉区3立方体干涉器3内SIN#0013SOUT#001340024500242002430024禁止进入干涉区4立方体干涉区4内SIN#0014SOUT#001440025500252002530025碰撞传感器粘丝监控SIN#0015SOUT#001540026500262002630026气压低断弧监控SIN#0016SOUT#001640027500272002730027命令内部编号内部继电器外部IO组号组号输入输出通用

4、输入通用输出外部输入外部输出IN#0001OT#000100010100102003030030IGH#001IN#0002OT#000200011100112003130031OGH#001IN#0003OT#000300012100122003230032IG#001IN#0004OT#000400013100132003330033OG#001IN#0005OT#000500014100142003430034IGH#002IN#0006OT#000600015100152003530035OGH#002IN#0007OT#000700016100162003630036IN#0

5、008OT#000800017100172003730037IN#0009OT#000900020100202004030040IGH#003IN#0010OT#001000021100212004130041OGH#003IN#0011OT#001100022100222004230042IG#002IN#0012OT#001200023100232004330043OG#002IN#0013OT#001300024100242004430044IGH#004IN#0014OT#001400025100252004530045OGH#004IN#0015OT#001500026100

6、262004630046IN#0016OT#001600027100272004730047IN#0017OT#001700030100302005030050IGH#005IN#0018OT#001800031100312005130051OGH#005IN#0019OT#001900032100322005230052IG#003IN#0020OT#002000033100332005330053OG#003IN#0021OT#002100034100342005430054IGH#006IN#0022OT#002200035100352005530055OGH#006IN#002

7、3OT#002300036100362005630056IN#0024OT#002400037100372005730057命令内部编号内部继电器外部IO组号组号输入输出通用输入通用输出外部输入外部输出IN#0025OT#002500040100402006030060IGH#007IN#0026OT#002600041100412006130061OGH#007IN#0027OT#002700042100422006230062IG#004I