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[Standard Mode] Types and Functions of System Output Signals
The table below lists the system output signals used in standard mode.
Types and Functions of System Output Signals to be Used in Standard Mode
| Application | Signal name | Function |
|---|---|---|
|
Start-up |
Robot initialization complete | Outputs when preparations for operation are ready to start. |
| Auto mode | Outputs when the robot is in Auto mode. | |
| External mode | Outputs when the robot is in external mode. | |
| Servo ON | Outputs when the power to the motor is turned ON. | |
| Program execution | Robot-in-operation | Outputs when the robot is in operation (the program is being executed). |
|
Refer to "Command Execution I/O Signals." |
Command Processing Complete | Outputs to the external device that I/O command processing is completed. |
| Status area (16 bits) | Outputs the result of I/O command processing to the external device. | |
| Status area odd parity | Bit for parity check in status area | |
|
Error/Warning |
Robot error | Outputs when a serious error, such as a servo error and a program error, occurs. |
| Robot warning | Outputs when a slight error occurs. | |
| Dead battery warning | Outputs when the voltage of the encoder back-up battery dangerously low. | |
| 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.