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3 Controller
  Parallel I/O interface   
3-106
Table 3-15 ： Connector<1> pin assignment list and external I/O cable (2D-CBL**) color(SLOT1)
Table 3-16 ： Connector<2> pin assignment list and external  I/O cable (2D-CBL**) color(SLOT1)
Pin
No. 
Line color
 
Function name
Pin
No. 
Line color
 
Function name
General-purpose
Dedicated/power supply, 
common
General-purpose
Dedicated/power supply, 
common
1C
Orange/Red
 a
24G/12G: For pins 5D-
20D
1D
Orange/
Black a
+24V/+12V(COM): For 
pins 5D-20D
2C
Gray/Red
 a
COM ： For pins 
5C-20C
Note1) 
Note1) Sink type: +24V/+12V(COM), Source type: 24G/12G
2D
Gray/
Black a
Reserved
3C
White/Red 
a
Reserved
3D
White/
Black a
Reserved
4C
Yellow/Red
 a
Reserved
4D
Yellow/
Black a
Reserved
5C
Pink/Red
 a
General-purpose input
 15
5D
Pink/
Black a
General-purpose output
 15
6C
Orange/Red
 b
General-purpose input
 14
6D
Orange/
Black b
General-purpose output
 14
7C
Gray/Red
 b
General-purpose input
 13
7D
Gray/
Black b
General-purpose output
 13
8C
White/Red 
b
General-purpose input
 12
8D
White/
Black b
General-purpose output
 12
9C
Yellow/Red
 b
General-purpose input
 11
9D
Yellow/
Black b
General-purpose output
 11
10C
Pink/Red
 b
General-purpose input
 10
10D
Pink/
Black b
General-purpose output
 10
11C
Orange/Red 
c
General-purpose input
 9
11D
Orange/
Black c
General-purpose output
 9
12C
Gray/Red
 c
General-purpose input
 8
12D
Gray/
Black c
General-purpose output
 8
13C
White/Red
 c
General-purpose input
 7
13D
White/
Black c
General-purpose output
 7
14C
Yellow/Red
 c
General-purpose input
 6
14D
Yellow/
Black c
General-purpose output
 6
15C
Pink/Red
 c
General-purpose input
 5
Operation rights input 
signal 
Note2) 
Note2) The dedicated signal is assigned at shipping. It can change with the parameter.
15D
Pink/
Black c
General-purpose output
 5
16C
Orange/Red
 d
General-purpose input
 4
Servo ON input signal 
16D
Orange/
Black d
General-purpose output
 4
17C
Gray/Red
 d
General-purpose input
 3
17D
Gray/
Black d
General-purpose output
 3
Operation rights output 
signal 
18C
White/Red
 d
General-purpose input
 2
Error reset input signal 
18D
White/
Black d
General-purpose output
 2
Error occurring output 
signal 
19C
Yellow/Red
 d
General-purpose input
 1
Servo OFF input signal 
19D
Yellow/
Black d
General-purpose output
 1
In servo ON output 
signal 
20C
Pink/Red
 d
General-purpose input
 0
Stop input 
Note3) 
Note3) The dedicated input signal (STOP) is assigned at shipping. The signal number is fixing.
20D
Pink/
Black d
General-purpose output
 0
Operating output 
Pin
No. 
Line color
 
Function name
Pin
No. 
Line color
 
Function name
General-purpose
Dedicated/power supply, 
common
General-purpose
Dedicated/power supply, 
common
1A
Orange/Red
 a
24G/12G: For pins 5B-
20B
1B
Orange/
Black a
+24V/+12V(COM): For 
pins 5B-20B
2A
Gray/Red
 a
COM ： For pins 5A-
20A
Note1) 
Note1) Sink type: +24V/+12V(COM), Source type: 24G/12G
2B
Gray/
Black a
Reserved
3A
White/Red 
a
Reserved
3B
White/
Black a
Reserved
4A
Yellow/Red
 a
Reserved
4B
Yellow/
Black a
Reserved
5A
Pink/Red
 a
General-purpose input
 31
5B
Pink/
Black a
General-purpose output
 31
6A
Orange/Red
 b
General-purpose input
 30
6B
Orange/
Black b
General-purpose output
 30
7A
Gray/Red
 b
General-purpose input
 29
7B
Gray/
Black b
General-purpose output
 29
8A
White/Red 
b
General-purpose input
 28
8B
White/
Black b
General-purpose output
 28
9A
Yellow/Red
 b
General-purpose input
 27
9B
Yellow/
Black b
General-purpose output
 27
10A
Pink/Red
 b
General-purpose input
 26
10B
Pink/
Black b
General-purpose output
 26
11A
Orange/Red 
c
General-purpose input
 25
11B
Orange/
Black c
General-purpose output
 25
12A
Gray/Red
 c
General-purpose input
 24
12B
Gray/
Black c
General-purpose output
 24
13A
White/Red
 c
General-purpose input
 23
13B
White/
Black c
General-purpose output
 23
14A
Yellow/Red
 c
General-purpose input
 22
14B
Yellow/
Black c
General-purpose output
 22
15A
Pink/Red
 c
General-purpose input
 21
15B
Pink/
Black c
General-purpose output
 21
16A
Orange/Red
 d
General-purpose input
 20
16B
Orange/
Black d
General-purpose output
 20
17A
Gray/Red
 d
General-purpose input
 29
17B
Gray/
Black d
General-purpose output
 19
18A
White/Red
 d
General-purpose input
 18
18B
White/
Black d
General-purpose output
 18
19A
Yellow/Red
 d
General-purpose input
 17
19B
Yellow/
Black d
General-purpose output
 17
20A
Pink/Red
 d
General-purpose input
 16
20B
Pink/
Black d
General-purpose output
 16