Remote Output Signals - Epson RC420 Manual

8.1.2 Remote Output Signals

Remote outputs provide status for the current Manipulator and Controller.
The remote output signals for EPSON RC+ are as follows:
MotorOn
PowerHigh
McalComplete
AtHome
CmdRunning
TasksRunning
Paused
Safeguard
EstopOn
Error
AutoMode
TeachMode
EnableOn
CurrRobor0
CurrRobor1
CurrRobor2
CurrRobor3
CurrGroup0
CurrGroup1
CurrGroup2
CurrGroup3
MotorMode
PowerMode
RecoverReqd
RecoverInCycle
(*3) (*4): Refer to the tables in the Setup & Operation 8.1.1 Remote Input Signals.
RC420 Rev.9
Setup & Operation 8.1 I/O Signal Description (I/O Remote Settings)
Function
Indicates that motors are on for the current robot.
Indicates that motor power is set to high for the current robot.
Indicates that MCal has been completed for the current robot. If
the robot uses absolute encoders, then this output will always be
on.
Indicates that the current robot is at its home position.
Indicates that a remote input command is in cycle.
Indicates that tasks are running in the Controller.
Indicates that tasks have been paused.
Indicates that the safeguard circuit is open.
Indicates that emergency stop has occurred.
Indicates that an error had occurred. You must execute a Reset
input to clear the error condition.
Indicates that remote input commands will be accepted.
Indicates that the system is in Teach mode.
Indicates that the enable switch (dead man) is on during Teach
mode.
Robot Bit 0, weight 1. (*3)
Robot Bit 1, weight 2. (*3)
Robot Bit 2, weight 4. (*3)
Robot Bit 3, weight 8. (*3)
Group Bit 0, weight 1. (*4)
Group Bit 1, weight 2. (*4)
Group Bit 2, weight 4. (*4)
Group Bit 3, weight 8. (*4)
Indicates the current motor setting.
turned off by the system, such as when the safeguard is opened.
But MotorMode signals the current user setting.
Indicates the current power setting.
to low by the system. But PowerMode signals the current user
setting.
Indicates that a recover position can be executed after the
safeguard has been closed.
Indicates that recover position is in cycle.
Description
Sometimes the motors are
Sometimes the power is set
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