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ID : 3076
States of System Output Signals in the RC3 Compatible Mode
When the cooperative control function is used, some of system output signals on the master controller output the logical AND or OR of both the master and slave controller states.
In the RC3 compatible allocation mode, the states of system output signals on the master controller are as follows.
| Signal name | State to be output | |
|---|---|---|
| RC3 compatible mode signals | Robot Running | Master |
| Robot Error | OR | |
| Auto Mode | Master | |
| External mode | ||
| Program Start Reset | ||
| Robot Power ON Completed | AND | |
| Servo ON | OR | |
| CAL Completed | Always ON | |
| Teaching ON | Master | |
| 1 Cycle End | ||
| Battery Warning | OR | |
| Robot warning | ||
| Continue start Permission | Master | |
| Error number | OR | |
| SS Mode | Always OFF | |
| CPU Normal | Each state | |
| Safety-circuit signals | Pendant Emergency Stop (output) | |
| Deadman SW (Enable SW output) | ||
STO Monitor (output) (RC8A only) |
||
Auto Mode Mutual Monitoring (output) (RC8A only) |
||
Contactor Contact Monitor (output) (RC8 only) |
||
| Signals that can be used by the parameter settings | Running Stop Processing | OR |
| Robot controller startup completed | ||
| Robot Running (Position designation) | ||
| Robot Running (Encoder) | ||
| Change Battery | ||
| Motor OFF indicator | ||
| 32bit Error Code Output | Master | |
- The following information is shown in "State to be output" in the table above.
State description Indication Logical AND of the master and slave controller state AND Logical OR of the master and slave controller state OR Master controller state Master Always ON regardless of the robot controller state Always ON Always OFF regardless of the robot controller state Always OFF The states of the master and slave controllers are output from their respective robot controllers. Each state - CPU Normal and safety-circuit signals are allocated to Mini I/O even if an I/O extension board is installed.
- For signals that can be used by the parameter settings, refer to "Status Output with User Output Ports".
ID : 3076