Inputs
Remote input enables external operation of Manipulators by inputting signals when valid conditions specified for each function are met.
To be able to accept remote input from an external source, the control device must be set to remote in addition to assigning the remote function. "AutoMode output" is turned on when the remote input can be accepted from an external source.
Signals other than "SelProg" execute their respective functions when the input acceptance condition is satisfied at the rising edge of the signal. Functions are performed automatically, and so there is no need to create special programs.
KEY POINTS
- If an error occurs, execute "Reset" to clear the error state before executing a remote input command. Use "Error output" and "Reset input" to allow the remote device to monitor and clear error states.
- When the remote input command does not meet the input acceptance conditions, the CmdError signal is output. The CmdError signal is not set to default for remote I/O output signals. When using the remote function, set the CmdError signal to the remote I/O output signal.
| Function Name | Default | Description | Input Acceptance Condition (*\ 1) |
|---|---|---|---|
| Start | 0 | Execute the function selected in SelProg (*2) (*13) | Ready output ON Error output OFF EStopOn output OFF SafeguardOn output OFF EStopOff output ON Pause input OFF Stop input OFF |
| SelProg1 | 1 | Specify the main function number to execute (*2) | |
| SelProg2 | 2 | ||
| SelProg4 | 3 | ||
| SelProg8 | Not set | ||
| SelProg16 | Not set | ||
| SelProg32 | Not set | ||
| Stop | 4 | Abort all tasks and commands | |
| Pause | 5 | Pause all tasks (*3) | Running output ON |
| Continue | 6 | Continue paused task | Paused output ON Pause input OFF Stop input OFF |
| Reset | 7 | Release emergency stop and error (*4) | Ready output ON |
| Shutdown | Not set | Terminates the system | |
| ForcePowerLow | Not set | Operate under a forced low power function Robot operates at low power Does not accept Power High control by commands, etc. Performs the following operations depending on Controller preferences settings Stop or pause all tasks and commands (*12) | Always This input is accepted even when AutoMode output is OFF. |
| SelRobot | Not set | Change output conditions for MotorsOn, AtHome, PowerHigh, and MCalReqd (*9) | |
SelRobot1 SelRobot2 SelRobot4 SelRobot8 SelRobot16 | Not set | Specify the robot number to execute the command (*5) | |
| SetMotorsOn | Not set | Turn ON the robot motor (*5) (*6) | Ready output ON EStopOn output OFF SafeguardOn output OFF EStopOff output ON SetMotorOff input OFF |
| SetMotorsOff | Not set | Turn OFF the robot motor (*5) | Ready output ON |
| SetPowerHigh | Not set | Set the robot power mode to High (*5) | Ready output ON EStopOn output OFF SafeguardOn output OFF EStopOff output ON SetPowerLow input OFF |
| SetPowerLow | Not set | Set the robot power mode to Low (*5) | Ready output ON |
| Home | Not set | Move robot arm to user-defined home position | Ready output ON Error output OFF EStopOn output OFF SafeguardOn output OFF EStopOff output ON MotorsOn output ON Pause input OFF Stop input OFF |
| MCal | Not set | Execute MCal (*5) (*7) | Ready output ON Error output OFF EStopOn output OFF SafeguardOn output OFF EStopOff output ON MotorsOn output ON Pause input OFF Stop input OFF |
| Recover | Not set | After the safeguard is closed, perform the recovery operation to the position when the safeguard is open. | Paused output ON Error output OFF EStopOn output OFF SafeguardOn output OFF EStopOff output ON RecoverReqd output ON Pause input OFF Stop input OFF |
| ExtCmdSet | Not set | This is an expansion remote I/O command. For details, refer to the following manual. Remote Control Reference - Remote I/O to be used | |
| ExtRespGet | Not set | ||
| ExtCmdReset | Not set | ||
| ResetAlarm | Not set | Cancel the alarm (*\ 11) | |
SelAlarm1 SelAlarm2 SelAlarm4 SelAlarm8 | Not set | Specify the alarm number to cancel (*10) | |
| ALIVE | Not set | Input signal for alive monitoring of the Controller The same signal as the input is output to the output-side ALIVE. The master device can perform alive monitoring of the Controller by periodically switching inputs and checking output signals. | |
| ExtCmd_0-15 | Not set | This is an expansion remote I/O command. For details, refer to the following manual. Remote Control Reference - Remote I/O to be used | |
| ExtCmd_16-31 | Not set | ||
| ExtCmd_32-47 | Not set | ||
| ExtCmd_48-63 | Not set | ||
| ExtCmd_64-79 | Not set | ||
| ExtCmd_80-95 | Not set | ||
| ExtCmd_96-111 | Not set | ||
| ExtCmd_112-127 | Not set |
(*1) “AutoMode output ON” is not described because it is an input acceptance condition that is common to all remote input
(*2) "Start input" executes the function specified by the 6 bits "SelProg1, 2, 4, 8, 16, 32."
| Function Name | SelProg1 | SelProg2 | SelProg4 | SelProg8 | SelProg16 | SelProg32 |
|---|---|---|---|---|---|---|
| Main | 0 | 0 | 0 | 0 | 0 | 0 |
| Main1 | 1 | 0 | 0 | 0 | 0 | 0 |
| Main2 | 0 | 1 | 0 | 0 | 0 | 0 |
| Main3 | 1 | 1 | 0 | 0 | 0 | 0 |
| : | ||||||
| Main60 | 0 | 0 | 1 | 1 | 1 | 1 |
| Main61 | 1 | 0 | 1 | 1 | 1 | 1 |
| Main62 | 0 | 1 | 1 | 1 | 1 | 1 |
| Main63 | 1 | 1 | 1 | 1 | 1 | 1 |
0=OFF, 1=ON
(*3) "NoPause task" and "NoEmgAbort task" do not pause. For details, refer to Epson RC+ Help or “Pause” in SPEL+ Language Reference.
(*4) This turns off I/O outputs and initializes robot parameters. For details, refer to Epson RC+ Help or “Reset” in SPEL+ Language Reference.
(*5) The values specified by the 5 bits “SelRobot1, 2, 4, 8, 16” are the robot numbers.
| Robot No. | SelRobot1 | SelRobot2 | SelRobot4 | SelRobot8 | SelRobot16 |
|---|---|---|---|---|---|
| 0(All) | 0 | 0 | 0 | 0 | 0 |
| 1 | 1 | 0 | 0 | 0 | 0 |
| 2 | 0 | 1 | 0 | 0 | 0 |
| 3 | 1 | 1 | 0 | 0 | 0 |
| 13 | 1 | 0 | 1 | 1 | 0 |
| 14 | 0 | 1 | 1 | 1 | 0 |
| 15 | 1 | 1 | 1 | 1 | 0 |
| 16 | 0 | 0 | 0 | 0 | 1 |
0=OFF, 1=ON
(*6) This also initializes robot parameters. For details, refer to Epson RC+ Help or “Motor” in SPEL+ Language Reference.
(*7) For details, refer to Epson RC+ Help or “MCal” in SPEL+ Language Reference.
(*8) This input is intended for advanced users. Ensure that you fully understand the input specifications before use. The CmdRunning output and CmdError output do not change relative to this input. The "NoEmgAbort task" is not aborted.
All tasks and commands are also aborted when the input changes from ON to OFF.
(*9) This switches output conditions for MotorsOn, AtHome, PowerHigh, and MCalReqd.
The conditions are selected using SelRobot-SelRobot16, and this signal can be set to switch the output conditions.
Once a selection is made, the condition is retained until it is switched again or until the Controller is turned off and restarted. The default value is Selects All Robots.
(*10) The values specified by the 4 bits “SelAlarm1, 2, 4, 8” are the the alarm numbers.
Alarm Number | Target | SelAlarm1 | SelAlarm2 | SelAlarm4 | SelAlarm8 |
|---|---|---|---|---|---|
| 1 | Controller battery | 1 | 0 | 0 | 0 |
| 2 | Battery of the robot connected to CU | 0 | 1 | 0 | 0 |
| 3 | Grease of the robot connected to CU | 1 | 1 | 0 | 0 |
| 4 | ‐ | 0 | 0 | 1 | 0 |
| 5 | ‐ | 1 | 0 | 1 | 0 |
| 6 | ‐ | 0 | 1 | 1 | 0 |
| 7 | ‐ | 1 | 1 | 1 | 0 |
| 8 | ‐ | 0 | 0 | 0 | 1 |
| 9 | ‐ | 1 | 0 | 0 | 1 |
0=OFF, 1=ON
Grease is applied to the following target location. 6-Axis Robots: Bevel gear at Joint #6
SCARA Robots, RS Series: Ball screw spline unit of Joint #3
(*11) The specified alarm can be canceled by selecting the conditions using SelAlarm1-SelAlarm8 and setting this signal.
(*12) This performs all tasks and commands, robot power modes, and PowerHigh command operations according to the set values in the Controller preferences.
- Preferences (1): "Low power at ForcePowerLow signal OFF"
- Preferences (2): "Pause tasks at ForcePowerLow signal change"
For details on Controller preferences, refer to the following.
“Epson RC+ User's Guide -[System Configuration] (Setup menu) [Setup]-[System Configuration]-[Controller]-[Preferences]”
| Preferences (1) | Preferences (2) | ForcePowerLow Signal Change | All tasks and commands | Robot power mode | PowerHigh Commands |
|---|---|---|---|---|---|
| 0 | 0 | 1->0 | Stop | Low only | Accept |
| 0 | 0 | 0->1 | Stop | Low only | Not accepted |
| 0 | 1 | 1->0 | Operation continues | High/Low | Accept |
| 0 | 1 | 0->1 | Pause | Low only | Not accepted |
| 1 | 0 | 1->0 | Stop | Low only | Not accepted |
| 1 | 0 | 0->1 | Stop | Low only | Accept |
| 1 | 1 | 1->0 | Pause | Low only | Not accepted |
| 1 | 1 | 0->1 | Operation continues | High/Low | Accept |
(*13) Do not execute the Restart command of the SPEL+ program and the remote input Start signal at the same time. Running programs in duplicate may cause a 2503 error to occur.