Epson RC700-D, Manual

Page: 145 / 206

Functions 12. I/O Remote Settings
RC700-D Rev.2
129
12.1.2 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 ON.
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 Not set
Turns OFF other than at Emergency Stop.
Turns ON at Emergency Stop.
Turns OFF at controller power OFF (*11)
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.
Warning 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.
EStopOff 8
Turns ON other than at Emergency Stop.
Turns OFF at Emergency Stop.
Turns ON at controller power OFF
MotorsOn
Not set Turns ON when the robot motor is ON.
(*5)
AtHome Not set Turns ON when the robot is in the home position. (*5)
PowerHigh
Not set Turns ON when the robot’s power mode is High.
(*5)
MCalReqd
Not set Turns ON when the robot hasn’t executed MCal. (*5)
RecoverReqd
Not set Turns ON when at least one robot is waiting for Recover
after the safeguard is closed.
RecoverInCycle Not set Turns ON when at least one robot is executing Recover.
WaitingRC
Not set Turns ON when the controller waits for RC+ to connect.
CmdRunning
Not set Turns ON when an input command is executing.
CmdError
Not set Turns ON when an input command cannot be accepted.
CurrProg1
CurrProg2
CurrProg4
CurrProg8
CurrProg16
CurrProg32
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.
TestMode
Not set Turns ON in TEST mode.
EnableOn Not set Turns ON when enable switch is ON.
ErrorCode1
.
.
.
ErrorCode8192
Not set Indicates the error number.