Epson T-B Series, Руководство пользователя

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T3-B T6-B Manipulator 14. I/O Remote Settings
128 T-B series 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 Not set
Turns OFF except in Emergency Stop.
Turns ON in Emergency Stop.
Turns OFF when the controller power is 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 except in Emergency Stop.
Turns OFF in Emergency Stop.
Turns OFF when the controller power is OFF
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.
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 the enable switch is ON.