Rainbow Robotics RB Series, Руководство пользователя

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RAINBOW ROBOTICS
RB SERIES _ USER MANUAL
© RAINBOW ROBOTICS Inc. All rights reserved.
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■ Description of all types available for the input port.
The input ports from Din0 to Din 15 in the control box can be set up as one of the
following types. (R = Rising Edge, F = Falling Edge, H = High State).
0. Default (GPIO)
1. Run Program Once (Rising Edge)
2. Stop/Halt Program (Rising Edge)
3. Pause Program (Rising Edge)
4. R = On direct-teaching / F = Off direct-teaching
5. R = speed 100% / F = speed 0%
6. R = Convert to REAL mode / F = Convert to SIMULATION mode
7. R = Robot arm initialization (activate servo drive)
8. H = Collision detection off
9. H = Auto-Initialization Key
10. R = Resume the operation from pause state caused by external collision
11. Add Point in UI (Rising Edge)
12. Run Program Repeat (Rising Edge)
13. R=go to Begin posture / F=stop moving
14. R = Program Resume
15. H = Quick Freedrive Change
16. R = Pause / F = Resume Program
17. F = Pause / R = Resume Program
18. H = Speed 100% / L = 0%
19. R = Load Default Program
20. F = Robot Arm PowerDown
21. R = Touch Sensing
22. F = Touch Sensing
23. H = No Arc
24. H = Program Start Block
25. R = Ext.Joint0 Plus/F=stop
26. R = Ext.Joint0 Minus/F=stop
27. R = Ext.Joint1 Plus/F=stop
28. R = Ext.Joint1 Minus/F=stop
29. R = Ext.Joint2 Plus/F=stop
30. R = Ext.Joint2 Minus/F=stop
31. H = Safety Speed