ID : 1047

[RC3 Compatible Mode] Types and Functions of System Output Signals

The table below lists the system output signals used in the compatible 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 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 series robot controller 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.
Program execution	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 one 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	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 series robot controller does not have SS function.

System output signals are checked every 8 ms.

ID : 1047

Related Information: Robot Power ON Complete; Auto Mode (Output); Servo ON (Output); CAL Complete (Output); External Mode (Output); Teaching (Output); Program Start Reset (Output); Robot-in-operation (Output); Single-Cycle End (Output); Robot Error (Output); Robot Warning (Output); Dead Battery Warning (Output); Error No. (Output); Continue Start Permitted (Output)