I/O Signals - ABB IRB 14000 Operating Manual

3.8 I/O signals

Introduction
It is possible to connect different types of I/O signals to the IRB 14000, both digital
I/O signals and different types of fieldbuses (industrial networks).
For more information about connecting I/O signals, see Product
manual - Product.ProductName and Circuit diagram - IRB 14000.
Predefined signals
Operating mode signals
The following output signals are predefined in the system and can be used to
change and confirm the operating mode.
Name
VP_ENABLE
VP_MODEKEY
VP_MOTOPB
Collision avoidance signal
Name
Collision_Avoidance
Operating manual - IRB 14000
3HAC052986-001 Revision: E
Type Description
output Enable signal for manual mode.
output Operating mode selector.
output Motors On push button.
Type Description
output Default is 1, meaning that collision avoidance is
enabled.
Setting this signal to 0 will disable collision avoid-
ance. This is usable for tasks where you need the
arms to be very close and the risk of collision is
acceptable.
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3 Using the IRB 14000
3.8 I/O signals
45