System Output
System output allocation is the same as that of non-Cooperative control function operation.
Master controller outputs an "OR condition" or "AND condition" between the master and the slave. Note that output signals from the slave controller are unreliable.
Any output signals that do not experience any software are issued from the master controller and slave controllers respectively. (Refer to the description on the table below.)
For example, because "CPU Normal" is directly outputted from hardware without experiencing any software, this signal is outputted directly from both the master controller and slave controller respectively. Therefore, ON/OFF status of "CPU Normal" from the master controller and the one from the slave controller can be different.
Mini I/O
|
Signal type |
Output from the master |
Description |
|
Robot Initialized |
AND |
|
|
Auto Mode |
Master |
|
|
Operation Preparation Completed |
AND |
|
|
Robot Running |
Master |
Program running |
|
Robot Error |
OR |
|
|
Battery Warning |
OR |
|
|
CPU Normal |
Master |
Slave's state is outputted from the slave. |
|
Pendant Emergency Stop (output) |
Master |
Slave's state is outputted from the slave. |
|
Deadman SW (output) |
Master |
Slave's state is outputted from the slave. |
|
Contactor Contact Monitor (out put) |
Master |
Slave's state is outputted from the slave. |
Standard Mode
|
Signal type |
Output from the master |
Description |
|
Robot Initialized |
AND |
|
|
Auto Mode |
Master |
|
|
External mode |
Master |
|
|
Servo ON |
OR |
|
|
Robot Running |
Master |
Program running |
|
Command Processing Completed |
Master |
|
|
Status Area |
Master |
|
|
Status area odd parity |
Master |
|
|
Robot Error |
OR |
|
|
Robot warning |
OR |
|
|
Battery Warning |
OR |
|
Compatible Mode
|
Signal type |
Output from the master |
Description |
|
Robot Power ON Completed |
AND |
|
|
Auto Mode |
Master |
|
|
External mode |
Master |
|
|
CAL Completed |
OR |
Always ON (to support RC7) |
|
Servo ON |
OR |
|
|
Teaching ON |
Master |
|
|
Program Start Reset |
Master |
|
|
Robot Running |
Master |
Program running |
|
1 Cycle End |
Master |
|
|
Robot Error |
OR |
|
|
Robot warning |
OR |
|
|
Battery Warning |
OR |
|
|
Error number |
OR |
|
Signals that are Set to User Outputs by User’s Setting
|
Signal type |
Output from the master |
Description |
|
Continue start allowed |
Master |
|
|
SS Mode |
Master |
Always OFF (to support RC7) |
|
Robot controller startup completed IO No |
OR |
|
|
Robot Running IO No (Position designation) |
OR |
|
|
Robot Running IO No (Encoder) |
OR |
|
|
Change Battery IO No |
OR |
|
|
Motor OFF indicator IO No |
OR |
|
|
32bit Error Code Output IO No |
Master |
|
<< Prev Next >>
HOME