Setup & Operation 14. I/O Remote Settings
104
VT Rev.1
14.1.2 Remote Output Signals
Remote output is a function to output a status of the Manipulator or operation mode.
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 manipulator 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.
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.
MotorsOn
Not set
Turns ON when the manipulator motor is ON.
(*5)
AtHome
Not set
Turns ON when the manipulator is in the home position.
(*5)
PowerHigh
Not set
Turns ON when the manipulator’s power mode is High.
(*5)
MCalReqd
Not set
Turns ON when the manipulator hasn’t executed MCal.
(*5)
RecoverReqd
Not set
Turns ON when at least one manipulator is waiting for
Recover after the safeguard is closed.
RecoverInCycle
Not set
Turns ON when at least one manipulator is executing
Recover.
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.
ErrorCode1
.
.
.
ErrorCode8192
Not set
Indicates the error number.
InsideBox1
.
.
.
InsideBox15
Not set
Turns ON when the manipulator is in the approach check
area.
(*3)
Summary of Contents for VT Series
Page 1: ...6 Axis Robots VT series MANIPULATOR MANUAL Rev 1 EM18YR3817F ...
Page 2: ...MANIPULATOR MANUAL VT series Rev 1 ...
Page 8: ...vi VT Rev 1 ...
Page 16: ...TABLE OF CONTENTS xiv VT Rev 1 ...
Page 18: ......
Page 31: ...Setup Operation 2 Specifications VT Rev 1 15 2 4 Outer Dimensions ...
Page 32: ...Setup Operation 2 Specifications 16 VT Rev 1 Unit mm ...
Page 33: ...Setup Operation 2 Specifications VT Rev 1 17 2 5 Standard Motion Range Unit mm ...
Page 130: ......
Page 138: ...Maintenance 3 Manipulator Structure 122 VT Rev 1 3 Manipulator Structure ...
