Epson RC90 User Manual page 80

Setup & Operation 12. I/O Remote Settings
InsidePlane1
InsidePlane15
Alarm
Alarm1
Alarm9
PositionX
PositionY
PositionZ
PositionU
PositionV
PositionW
Torque1
Torque2
Torque3
Torque4
Torque5
Torque6
CPU
ESTOP
(*1) Outputs the current or the last function number of CurrProg1, 2, 4, 8, 16, or 32.
Function name CurrProg1
Main
Main1
Main2
Main3
Main60
Main61
Main62
Main63
0=OFF, 1=ON
(*2) Remote function is available in the followings conditions.
- The setting is Auto mode and the control device is remote.
- The setting is Program mode and Remote I/O is enabled.
(*3) For details, refer to EPSON RC+ 7.0 Online Help or Box in SPEL
(*4) For details, refer to EPSON RC+ 7.0 Online Help or Plane in SPEL
64
Name Initial
.
.
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
Not set
Not set
Not set
Not set
CurrProg2
0 0
1 0
0 1
1 1
0 0
1 0
0 1
1 1
Description
Turns ON when the robot is in the approach check plane.
For details, refer to EPSON RC+ 7.0 Online Help or
+
Plane in SPEL Language Reference.
Turns ON when any of the alarms is occurring.
Turns ON when an alarm is occurring.
Outputs current X coordinate in the World coordinate
system
Outputs current Y coordinate in the World coordinate
system
Outputs current Z coordinate in the World coordinate system
Outputs current U coordinate in the World coordinate
system
Outputs current V coordinate in the World coordinate
system
Outputs current W coordinate in the World coordinate
system
Outputs the current torque value of Joint #1
Outputs the current torque value of Joint #2
Outputs the current torque value of Joint #3
Outputs the current torque value of Joint #4
Outputs the current torque value of Joint #5
Outputs the current torque value of Joint #6
Outputs the CPU load factor of the user program
Outputs how many times emergency stops have been
executed.
CurrProg4 CurrProg8
0 0
0 0
0 0
0 0
. .
.
1 1
1 1
1 1
1 1
+
Language Reference.
+
CurrProg16
0
0
0
0
1
1
1
1
Language Reference.
RC90 (EPSON RC+ 7.0) Rev.4
(*6) (*7)
(*6) (*7)
(*6) (*7)
(*6) (*7)
(*6) (*7)
(*6) (*7)
(*6) (*7)
(*6) (*7)
(*6) (*7)
(*6) (*7)
(*6) (*7)
(*6) (*7)
(*8)
CurrProg32
0
0
0
0
1
1
1
1