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[Compatible Mode] Types and Functions of System Output Signals

The table below lists the system output signals used in the compatible mode.

Types and Functions of System Output Signals to be Used in Compatible Mode

Application Signal name Function

Start-up

 Robot power ON complete Outputs when preparations for operation are ready to start.
Auto mode Outputs when the robot is in auto mode.
Servo ON Outputs when the power to the motor is turned ON.
CAL complete This signal is for the compatible mode-use.
RC8-compatible robots are not necessary CAL, therefore this function always turns OFF automatically after boosting.
External mode Outputs when the robot is in external mode.

Program pre-execution check

 Teaching Outputs when the robot is in manual or teach check mode.

Program execution

 Program start reset Outputs when execution of the program starts in response to the program start signal received.
Robot-in-operation Outputs when the robot is in operation (the program is being executed).
Program end Single cycle end Outputs when the program completes a cycle.

Error/warning

 Robot error Outputs when a failure (such as a servo failure and program error) occurs in the robot.
Robot warning Outputs when a slight error occurs.
Dead battery warning Outputs when the voltage of the encoder backup battery or memory backup battery lowers.
Error No. An error number will be outputted in BCD code if an error occurs.
Continue start Continue start permitted Outputs when Continue Start is enabled.
SS function SS Mode The signal of SS (Safe Start) Function which is equipped with the RC7 robot controller.
This signal is always OFF because the RC8 robot controller does not have SS function.

System output signals are checked every 8 ms.

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