Rainbow Robotics RB Series, Руководство пользователя

Страница: 406 / 440

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL
© RAINBOW ROBOTICS Inc. All rights reserved.
406
10: Motor controller encoder error 1
11: Motor controller encoder error 2
12: Digital input 16/17 short error
13: 48V switch error
14: Teaching button error
103 Float Voltage of analog signal port #0 at tool flange.
104 Float Voltage of analog signal port #1 at tool flange.
105 Int
On/Off status of digital signal port #0 at tool flange
(on:1 / off:0).
106 Int
On/Off status of digital signal port #1 at tool flange
(on:1 / off:0).
107 Int
On/Off output status of digital signal port #0 at tool
flange (on:1 / off:0).
108 Int
On/Off output status of digital signal port #1 at tool
flange (on:1 / off:0)
109 Float Voltage output at tool flange.
110 Int Status of collision (detected:1)
111 Int
Status of device errors
0: No error
1: PVL error
2: CPU error
3: Big error
4: Input error
5: JAM error
6: Over current error
7: Joint angle error
8: Control mode error
9: Offset error between reference and encoder
10: Current error at upper level controller
11: Temperature error
12: Speed error in teaching
112 Int Self collision detection (on:1 / off:0)
113 Int Robot paused (paused:1)
114 Int
Status of motion errors
0: No error
1: TCP motion commanded when the robot is fully
stretched out.
2: TCP command unreachable
3: Joint command crossed mechanical limit
4: TCP command singularity
115 Int On/Off status of digital input port #16 (on:1 / off:0).
116 Int On/Off status of digital input port #17 (on:1 / off:0).
117 Int Inbox 0 Trap occurred
118 Int Inbox 1 Trap occurred
119 Int Inbox 0 check mode
120 Int Inbox 1 check mode