Epson RC180, Manual

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Setup & Operation 11. I/O Remote Settings
68 RC180 Rev.17
11.1.2 Remote Output Signals
Remote outputs provide status for the Manipulator and Controller.
Remote outputs provide the assigned function using with any control device. The outputs
execute automatically. Therefore, no special programming is needed.
Name Initial Description
Ready 0
Turns ON when the controller startup completes and no
task is running.
Running 1
Turns ON when task is running.
However, turns OFF when “Paused output” is OFF.
Paused 2 Turns ON when pause task exists.
Error 3
Turns ON when an error occurs.
Use “Reset input” to recover from the error.
EStopOn 4 Turns ON at Emergency Stop.
SafeguardOn 5 Turns ON when the safeguard is open.
SError 6
Turns ON when critical error occurs.
When a critical error occurs, “Reset input” does not
function. Reboot the controller to recover.
Warnig 7
Turns ON when warning occurs.
The task runs as normal with the warning. However, be
sure to eliminate the cause of the warning as soon as
possible.
MotorsOn Not Set Turns ON when the motor is ON.
AtHome Not Set Turns ON when the robot is in the home position.
CurrProg1
CurrProg2
CurrProg4 Not Set Indicates the running or the last main function number (*1)
AutoMode Not Set Turns ON in remote input acceptable status. (*2)
TeachMode Not Set Turns ON in TEACH mode.
ErrorCode1
.
.
.
ErrorCode8192
Not Set Indicates the error number.
InsideBox1(*3)
.
.
.
InsideBox15
Not Set Turns ON when the robot is in the approach check area.
For details, refer to EPSON RC+ 5.0 Online Help or Box
in SPEL
+
Language Reference .
InsidePlane1
(*3)
.
.
.
InsidePlane15
Not Set Turns ON when the robot is in the approach check plane.
For details, refer to EPSON RC+ 5.0 Online Help or
Plane in SPEL
+
Language Reference .
Alarm
Not Set Turns ON when any of the alarms is occurring.
(*5)
Power High (*4) Not Set Turns ON when the power status is High.
ALIVE
Not Set
Output signal for alive monitoring of the controller. The
signal input by ALIVE input will be output. The master
equipment can perform alive monitoring of the controller
by switching the input periodically and checking the
output signal.