Epson RC420 Manual page 79

SelGroup
SelGroup0
SelGroup1
SelGroup2
SelGroup3
Recover
Shutdown
Reboot
(*1) The SelRobot input is used to select the Manipulator for executing Motor Mode,
(*2) The Start input is enabled for the group number specified with SelGroup0-3 bits.
(*3) Specify the manipulator number with SelRobot0 - 3 as shown in the table below.
RC420 Rev.9
Setup & Operation 8.1 I/O Signal Description (I/O Remote Settings)
Name
Selects the current program group to be started with the Start input
according to the 4 inputs SelGroup0 to SelGroup3.
Group Bit 0, weight 1. (*4)
Group Bit 1, weight 2. (*4)
Group Bit 2, weight 4. (*4)
Group Bit 3, weight 8. (*4)
Initiates a position recovery after the safeguard has been closed.
Shuts down the Controller. Disabled when tasks are running.
Reboots the Controller. Disabled when tasks are running.
Power Mode, MCALComplete, AtHOME, the output of CurrRobot0 to 3 for remote
output and Motor ON, Motor OFF, Mcal, Home for remote input.
Specified
Manipulator
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
0 : OFF, 1 : ON
Description
SelRobot0 SelRobot1
0 0
1 0
0 1
1 1
0 0
1 0
0 1
1 1
0 0
1 0
0 1
1 1
0 0
1 0
0 1
1 1
SelRobot2 SelRobot3
0 0
0 0
0 0
0 0
1 0
1 0
1 0
1 0
0 1
0 1
0 1
0 1
1 1
1 1
1 1
1 1
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