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Types and Functions of System Output Signals

The table below lists the system output signals.

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.
Auto Mode Outputs when the robot is in Auto mode.
Operation Preparation Completed Outputs when the motor power is turned on and the robot is in External auto mode.
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.
Battery Warning Outputs when the voltage of the encoder or memory backup battery drops below the specified level.
Continue

Continue Start Permission

Note: It is necessary to specify this output signal by I/O hardware setting beforehand.

 Outputs when Continue Start is permitted.

Safety circuit

 Pendant Emergency Stop (dual line) Outputs the status of the emergency stop button on the teach pendant or mini-pendant.
Deadman SW [Enable SW] (dual line) Outputs the status of the deadman switch (enable switch) on the teach pendant or mini-pendant.
Contactor Contact Monitor (1a, 2a, 1b, 2b)

Outputs the status of the auxiliary contact of the motor contactor in the robot controller.
For 1a and 2a signals, the contact output signal comes ON when the motor is turned on; it comes OFF when the motor is turned off.
For 1b and 2b signals, the contact output signal comes OFF when the motor is turned on; it comes ON when the motor is turned off.

System output signals are checked every 8 ms.

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