T3-B T6-B Manipulator 14. I/O Remote Settings
T-B series Rev.1
127
(*6) Initializes the manipulator parameter.
For details, refer to
EPSON RC+ 7.0
Online Help
or
Motor
in
SPEL
+
Language Reference
.
(*7) For details, refer to
EPSON RC+ 7.0
Online Help
or
MCal
in
SPEL
+
Language Reference
.
(*8) This is for experienced users only. Make sure that you fully understand the input specification before
using.
CmdRunning output and CmdError output will not change for this input.
“NoEmgAbort task” will not stop by this input.
When the input changes from ON to OFF, all tasks and commands will stop.
(*9) This function changes the output condition of MotorsOn, AtHome, PowerHigh, and MCalReqd.
By setting this signal with the condition selected using SelRobot1 - SelRobot16, you can switch the
output condition.
Once you select the condition, it will be kept until you change it or turn off / restart the Controller. All
manipulators are selected as default.
(*10) The values specified by “SelAlarm1, 2, 4, and 8” correspond to the alarm numbers.
Alarm #
Target
SelAlarm1 SelAlarm2 SelAlarm4 SelAlarm8
1
Controller battery
1
0
0
0
2
-
0
1
0
0
3
Manipulator grease
1
1
0
0
4
-
0
0
1
0
5
-
1
0
1
0
6
-
0
1
1
0
7
-
1
1
1
0
8
-
0
0
0
1
9
-
1
0
0
1
0=OFF, 1=ON
The following parts are subject to grease up.
Ball screw spline unit on the Joint # 3
(*11) The specified alarm can be canceled by selecting the conditions using SelAlarm1-SelAlarm8 and setting
this signal.
(*12) Operation of all tasks and commands, power mode of the manipulator, and PowerHigh command by the
setting of the manipulator preferences.
Preferences (1): “Motor power low when ForcePowerLow signal OFF”
Preferences (2): “ForcePowerLow signal change pauses all tasks”
For details of the manipulator preferences, refer to
EPSON RC+ 7.0 User’s Guide
[Setup]-[System Configuration]-[Controller]-[Preferences] in 5.12.2 [System
Configuration] Command (Setup Menu)
.
Preferences (1) Preferences (2) ForcePowerLow All tasks and
commands Power mode PowerHigh
0
0
1→0
Stop
Low only
Accept
0
0
0→1
Stop
Low only
Not accept
0
1
1→0
Continue
High/Low
Accept
0
1
0→1
Temp. stop
Low only
Not accept
1
0
1→0
Stop
Low only
Not accept
1
0
0→1
Stop
Low only
Accept
1
1
1→0
Temp. stop
Low only
Not accept
1
1
0→1
Continue
High/Low
Accept
Содержание T-B Series
Страница 1: ...SCARA ROBOT T B series MANUAL Rev 1 EM217R4788F ...
Страница 2: ...SCARA Robots T B series Manual Rev 1 ...
Страница 15: ...TABLE OF CONTENTS T B series Rev 1 xiii T6 B602S J3 165 Appendix D Open Source Software License 167 ...
Страница 16: ...TABLE OF CONTENTS xiv T B series Rev 1 ...
Страница 17: ...Installation This volume describes the flow from unpacking to operation and designing the robot system ...
Страница 18: ......
Страница 40: ...Installation 5 Second Step 24 T B series Rev 1 ...
Страница 42: ......
Страница 58: ...T3 B T6 B Manipulator 2 Specifications 42 T B series Rev 1 2 3 Outer Dimensions 2 3 1 T3 B ...
Страница 59: ...T3 B T6 B Manipulator 2 Specifications T B series Rev 1 43 2 3 2 T6 B ...
Страница 77: ...T3 B T6 B Manipulator 3 Environments and Installation T B series Rev 1 61 T6 B A B ...
Страница 158: ...T3 B T6 B Manipulator 18 Error Code List 142 T B series Rev 1 ...
Страница 160: ......
Страница 168: ......
Страница 178: ...Appendix B Time and Distance of Free Running in Emergency 162 T B series Rev 1 ...
Страница 182: ...Appendix C Time and Distance of Free Running When Safeguard Is Opened 166 T B series Rev 1 ...
