Remote Output Signals - Epson RC90 Manual

12.1.2 Remote Output Signals

Remote outputs provide status for the Manipulator and Controller.
Remote outputs provide the assigned function using with any control device The outputs
execute automatically. Therefore, no special programming is needed.
Ready
Running
Paused
Error
EStopOn
SafeguardOn
SError
Warning
MotorsOn
AtHome
PowerHigh
MCalReqd
RecoverReqd
RecoverInCycle
CmdRunning
CmdError
CurrProg1
CurrProg2
CurrProg4
CurrProg8
CurrProg16
CurrProg32
AutoMode
TeachMode
ErrorCode1
ErrorCode8192
InsideBox1
InsideBox15
RC90 (EPSON RC+ 7.0) Rev.8
Name Initial
0
1
2
3
4
5
6
7
Not set
Not set
Not set
Not set
Not set
Not set
Not set
Not set
Not set
Not set
Not set
.
.
Not set
.
.
.
Not set
.
Setup & Operation 12. I/O Remote Settings
Description
Turns ON when the controller startup completes and no
task is running.
Turns ON when task is running.
However, turns OFF when "Paused output" is OFF.
Turns ON when pause task exists.
Turns ON when an error occurs.
Use "Reset input" to recover from the error.
Turns ON at Emergency Stop.
Turns ON when the safeguard is open.
Turns ON when critical error occurs.
When a critical error occurs, "Reset input" does not
function. Reboot the controller to recover.
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.
Turns ON when the motor is ON.
Turns ON when the robot is in the home position.
Turns ON when the robot's power mode is High.
Turns ON when the robot hasn't executed MCal.
Turns ON when at least one robot is waiting for Recover
after the safeguard is closed.
Turns ON when at least one robot is executing Recover.
Turns ON when an input command is executing.
Turns ON when an input command cannot be accepted.
Indicates the running or the last main function number
Turns ON in remote input acceptable status.
Turns ON in TEACH mode.
Indicates the error number.
Turns ON when the robot is in the approach check area.
For details, refer to EPSON RC+ 7.0 Online Help or Box
+
in SPEL Language Reference.
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