ABB IRB 14000, Руководство по эксплуатации

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3.8 I/O signals
Introduction
It is possible to connect different types of I/O signals to the IRB 14000, both digital
I/O signals and different types of fieldbuses (industrial networks).
For more information about connecting I/O signals, see Product
manual - Product.ProductName and Circuit diagram - IRB 14000 .
Predefined signals
Operating mode signals
The following output signals are predefined in the system and can be used to
change and confirm the operating mode.
Description Type Name
Enable signal for manual mode. output
VP_ENABLE
Operating mode selector. output
VP_MODEKEY
Motors On push button. output
VP_MOTOPB
Collision avoidance signal
Description Type Name
Default is 1, meaning that collision avoidance is
enabled. output
Collision_Avoidance
Setting this signal to 0 will disable collision avoid-
ance. This is usable for tasks where you need the
arms to be very close and the risk of collision is
acceptable.
Operating manual - IRB 14000 45
3HAC052986-001 Revision: E
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3 Using the IRB 14000
3.8 I/O signals