Remote Output Signals - Epson VT Series Manipulator Manual

Setup & Operation 14. I/O Remote Settings

14.1.2 Remote Output Signals

Remote output is a function to output a status of the Manipulator or operation mode.
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
104
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
Description
Turns ON when the manipulator 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 manipulator motor is ON.
Turns ON when the manipulator is in the home position.
Turns ON when the manipulator's power mode is High.
Turns ON when the manipulator hasn't executed MCal.
Turns ON when at least one manipulator is waiting for
Recover after the safeguard is closed.
Turns ON when at least one manipulator 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 manipulator is in the approach check
area.
(*5)
(*5)
(*5)
(*5)
(*1)
(*2)
(*3)
VT Rev.1