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ID : 7948
[Standard Mode] Types and Functions of System Output Signals
The table below lists the system output signals used in standard mode.
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 | Signal name | Function |
|---|---|---|
|
Start-up |
Robot Initialization Complete | Outputs when preparations for operation are ready to start. |
| Motion Preparation Completed | Outputs when the motor power is turned on and the executable token is other than TP (I/O, Ethernet). | |
| Servo ON | Outputs when the power to the motor is turned ON. | |
| Program execution | Robot-in-operation | Outputs when the robot is in operation (the program is being executed). |
|
I/O command |
Command Processing Complete | Outputs to the external device that I/O command processing is completed. |
| Status area (16 bits) | Outputs the result of I/O command processing to the external device. | |
| Status area odd parity | Bit for parity check in status area. | |
|
Error/Warning |
Robot Error | Outputs when a serious error, such as a servo error and a program error, occurs. |
| Robot Warning | Outputs when a slight error occurs. | |
| Continue start | Continue Start Permitted | Outputs when Continue Start is enabled. |
| - | SS Mode | This signal is not used in COBOTTA (always off). |
System output signals are checked every 8 ms.
ID : 7948