Toshiba TS3000 Series Instruction Manual page 25

All of the hand output signals are turned off when the controller power has turned on
or turned off. When designing the end effector, therefore, take careful precautions
not to drop a part at power failure, etc.
The robot control signal can be controlled from the robot language program. In the
robot language, the robot control signal is specified by the signal name assigned to
each signal.
For the robot language, see the Robot Language Manual.
Additionally, the hand input and output signals can be controlled by the sequencer
built in the TS3100. For details, see the Simple PLC Function Manual.
It is also possible to control the double solenoid device by combining two (2) hand
output signals. When this happens, two (2) output signals bearing consecutive
signal names are used to serve as a double solenoid. For the automatic operation,
program using the robot language so that the two (2) output signals forming the
double solenoid can be made exclusive. While the controller power is turned off or
turned on, both output signals turn off.
The hand output signal can be turned on and off manually through the teach
pendant on condition that each hand output signal which turns on and off is defined
in the user parameter (USER. PAR) beforehand.
For the setting procedures, see the User Parameter Manual.
Note: Once the double solenoid is defined, using the user parameter, two (2)
output signals are output exclusively by the hand output signal operation
through the teach pendant. For the automatic operation, however,
program using the robot language so that the two (2) output signals forming
the double solenoid can be made exclusive. Also, even if the double
solenoid is defined in advance, relevant two (2) signals turn off when the
controller power is turned on.
In the commands of OPEN1, OPEN2, CLOSE1, CLOSE2, OPENI1,
OPENI2, CLOSEI1 and CLOSEI2, each set signals of (201, 202) and (203,
204) are output exclusively.
The hand output signal cannot be reset by the RESET SIG operation or
RESET DOUT command.
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INTERFACE MANUAL
STE 80729