Motoman PX2750, Руководство пользователя, Страница: 271 / 611

2.8 General I/O Signal Assignment
2-61
*1
The operation origin cube and Cube 24 are same.
*2
This signal is not output during operation.
3013
ALARM/ERROR OCCURRING
This signal signifies that an alarm or an
error occurred. If a major error occurs,
this signal remains ON until the main
power is turned OFF.
3024
IN CUBE 3
This signal turns ON when the current
tool center point lies inside a pre-defined
space (Cube 3). Use this signal to pre-
vent interference with other manipulators
and jigs.
3014
BATTERY ALARM
This signal turns ON to notify that the
battery requires replacing when the volt-
age drops from the battery for backup
memory of the encoder. Major problems
may result if memory data is lost
because of an expired battery. It is rec-
ommended to avoid these problems by
using this signal as a warning signal.
3025
IN CUBE 4
This signal turns ON when the current
tool center point lies inside a pre-defined
space (Cube 4). Use this signal to pre-
vent interference with other manipulators
and jigs.
3015 to
3017
REMOTE/PLAY/TEACH MODE
SELECTED
This signal notifies the current mode set-
ting. These signals are synchronized
with the lamps [REMOTE] and [MODE]
in the playback panel. The signal corre-
sponding to the selected mode turns ON.
3026
WORK COMMAND
This signal provides the command for
the general tool to operate. TOOL ON
instruction execution or the [TOOL ON]
key in the programming pendant turns
this signal ON and TOOL OFF instruc-
tion execution or the [TOOL OFF] key in
the programming pendant turns it OFF.
However, it remains OFF while the
WORK PROHIBITED signal (2022) is
input or while the robot is stopped.
3020
IN CUBE 1
This signal turns ON when the current
tool center point lies inside a pre-defined
space (Cube 1). Use this signal to pre-
vent interference with other manipulators
and jigs.
Specific Output List XCO02B (General Application)
Logical
Number
Output Name / Function
Logical
Number
Output Name / Function