Rainbow Robotics RB Series, Руководство пользователя

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RAINBOW ROBOTICS
RB SERIES _ USER MANUAL
© RAINBOW ROBOTICS Inc. All rights reserved.
429
54
Is Direct Teaching
mode
o x 0 or 1
55 Is Robot moving o x 0 or 1
56 Is Pause state o x 0 or 1
57
Is Teaching pendant
is connected
o x 0 or 1
58 Is Program Run o x 0 or 1
59 Is No-Arc mode is on o x 0 or 1
60
Is EMG button
released
o x 0 or 1
61 Is First Program Run o x 0 or 1
62~99 Reserved (Future System)
100
Command: Start
Program Once
o o
Rising Edge is
command
101
Command: Start
Program Repeat
o o
Rising Edge is
command
102
Command: Pause
Program
o o
Rising Edge is
command
103
Command: Stop
Program
o o
Rising Edge is
command
104
Command: Resume
from pause
o o
Rising Edge is
command
105
Command: Resume
from collision
o o
Rising Edge is
command
106
Command: Load
default Program
o o
Rising Edge is
command
107
Command: Robot
Arm activation
o o
Rising Edge is
command
108
Command: Change
to Real-mode
o o
Rising Edge is
command
109
Command: Power off
the robot arm
o o
Rising Edge is
command
110~127 Reserved (Future System)
128~255
User General
Purpose Register
o o User Defined Area
256 Joint reference 0 o x 0.02deg unit / Signed
257 Joint reference 1 o x 0.02deg unit / Signed
258 Joint reference 2 o x 0.02deg unit / Signed
259 Joint reference 3 o x 0.02deg unit / Signed
260 Joint reference 4 o x 0.02deg unit / Signed
261 Joint reference 5 o x 0.02deg unit / Signed
262 Joint angle 0 o x 0.02deg unit / Signed
263 Joint angle 1 o x 0.02deg unit / Signed
264 Joint angle 2 o x 0.02deg unit / Signed
265 Joint angle 3 o x 0.02deg unit / Signed
266 Joint angle 4 o x 0.02deg unit / Signed
267 Joint angle 5 o x 0.02deg unit / Signed