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ID : 7294
[Mini I/O-dedicated mode] Types and Functions of System Output Signals
The table below lists the system output signals.
For information about system output signals common for all allocation modes, refer to "[Common for all Allocation modes] Types and Functions of System Output Signals."
| Application | Output signal name | Function |
|---|---|---|
|
Start-up |
Robot Initialized | Outputs to the external device that the "Operation Preparation" command is executable. |
| Operation Preparation Completed | Outputs when the motor power is turned on and the executable token is other than TP (I/O, Ethernet, Any). | |
| Motion preparation completed | Outputs the COBOTTA robot program-ready state. | |
| Program execution | Robot Running | Outputs when the robot is in operation (one or more tasks are being executed). |
|
Error/Warning |
CPU Normal | Outputs when the CPU of the robot controller is normal. |
| Robot Error | Outputs when a servo error, program error, or any other serious error occurs. | |
| Continue |
Note : It is necessary to specify this output signal by I/O hardware setting beforehand. |
Outputs when Continue Start is permitted. |
System output signals are checked every 8 ms.
ID : 7294