Outputs
Remote output is a function that outputs the current Manipulator status and operation mode to an external device from the Manipulator.
Remote output always outputs the status of the assigned function externally, regardless of the control device settings. Output is performed automatically, and so there is no need to create a special program.
This signal is not a safety signal. Do not use it for safety-related functions.
| Function Name | Default | Description |
|---|---|---|
| Ready | 0 | ON when Controller startup is complete and no tasks are running |
| Running | 1 | ON when task is running However, OFF when "Paused output" is ON |
| Paused | 2 | ON when paused task is present |
| Error | 3 | ON when error has occurred "Reset input" is required to recover from an error state. (*13) |
| EStopOn | Not set | OFF except in emergency stop state ON in emergency stop state OFF in Controller power off state (*11) |
| SafeguardOn | 5 | ON when safeguard is open |
| SError | 6 | ON when a critical error has occurred If a critical error has occurred, it cannot be recovered using "Reset input." The Controller must be restarted. (*13) |
| Warning | 7 | ON when warning has occurred Even if a warning has occurred, the task can be executed as usual. However, take corrective action to address the cause of the warning as soon as possible. (*13) |
| EStopOff | 8 | ON except in an emergency stop state OFF in emergency stop state OFF in Controller power off state |
| MotorsOn | Not set | ON when the robot motor is on (*5) |
| AtHome | Not set | ON when robots are in the home position (*5) |
| PowerHigh | Not set | ON when the robot is in the High power mode (*5) |
| MCalReqd | Not set | ON when the robot has not performed Mcal (*5) |
| RecoverReqd | Not set | ON when even one robot is waiting for the execution of the recovery operation after the safeguard is closed |
| RecoverInCycle | Not set | ON when even one robot is executing the recovery operation |
| WaitingRC | Not set | ON when Controller is waiting for connection to RC+ |
| CmdRunning | Not set | ON during input command execution |
| CmdError | Not set | ON when input command could not be accepted |
CurrProg1 CurrProg2 CurrProg4 CurrProg8 CurrProg16 CurrProg32 | Not set | Outputs the main function number that is being executed or was last executed (*1) |
| AutoMode | Not set | ON when remote input can be accepted (*2) |
| TeachMode | Not set | ON when in TEACH mode |
| TestMode | Not set | ON when in TEST mode |
| EnableOn | Not set | ON when enable switch is on |
ErrorCode1 . . . ErrorCode8192 | Not set | Output the error number |
InsideBox1 . . . InsideBox15 | Not set | ON when robot is inside the entry detection area (*3) |
InsidePlane1 . . . InsidePlane15 | Not set | ON when robot is inside the entry detection area (*4) |
| Alarm | Not set | On when at least one of the alarm is occurring (*9) |
| Alarm1 | Not set | Turns ON when a battery alarm of the Controller is on. (*12) |
| Alarm2 | Not set | Turns ON when a battery alarm of the Manipulator connected to CU is on. (*12) |
| Alarm3 | Not set | Turns ON when a grease alarm of the Manipulator connected to CU is on. (*10) (*12) |
| Alarm4 | Not set | Reserved |
| Alarm5 | Not set | Reserved |
| Alarm6 | Not set | Reserved |
| Alarm7 | Not set | Reserved |
| Alarm8 | Not set | Reserved |
| Alarm9 | Not set | Reserved |
| PositionX | Not set | Outputs the current X coordinate in the world coordinate system. (*6) (*7) |
| PositionY | Not set | Outputs the current Y coordinate in the world coordinate system. (*6) (*7) |
| PositionZ | Not set | Outputs the current Z coordinate in the world coordinate system. (*6) (*7) |
| PositionU | Not set | Outputs the current U coordinate in the world coordinate system. (*6) (*7) |
| PositionV | Not set | Outputs the current V coordinate in the world coordinate system. (*6) (*7) |
| PositionW | Not set | Outputs the current W coordinate in the world coordinate system. (*6) (*7) |
| Torque1 | Not set | Outputs the current torque value of Joint #1. (*6) (*7) |
| Torque2 | Not set | Outputs the current torque value of Joint #2. (*6) (*7) |
| Torque3 | Not set | Outputs the current torque value of Joint #3. (*6) (*7) |
| Torque4 | Not set | Outputs the current torque value of Joint #4. (*6) (*7) |
| Torque5 | Not set | Outputs the current torque value of Joint #5. (*6) (*7) |
| Torque6 | Not set | Outputs the current torque value of Joint #6. (*6) (*7) |
| CPU | Not set | Outputs the CPU load ratio of the user program. (*8) |
| ESTOP | Not set | Outputs the number of times an emergency stop has been performed. |
| ALIVE | Not set | Output signal for alive monitoring of the Controller Outputs the signal that was input by the input-side ALIVE. The master device can perform alive monitoring of the Controller by periodically switching inputs and checking output signals. |
| ForceControlOn | Not set | On when the robot is performing force control function (*5) |
| ExtCmdGet | 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 |
| ExtRespSet | Not set | |
| ExtCmdResult | Not set | |
| ExtError | Not set | |
| ExtResp_0-15 | Not set | |
| ExtResp_16-31 | Not set | |
| ExtResp_32-47 | Not set | |
| ExtResp_48-63 | Not set | |
| ExtResp_64-79 | Not set | |
| ExtResp_80-95 | Not set | |
| ExtResp_96-111 | Not set | |
| ExtResp_112-127 | Not set |
(*1) “Outputs the function number that is being executed or was last executed using the 6 bits of "CurrProg1, 2, 4, 8, 16, 32."
| Function Name | CurrProg1 | CurrProg2 | CurrProg4 | CurrProg8 | CurrProg16 | CurrProg32 |
|---|---|---|---|---|---|---|
| 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
(*2) Remote input can be accepted in the following two cases:
- When in automatic operation mode and the control device is remote
- When in program mode and remote I/O is enabled
(*3) For details, refer to the following.
- “Help”
- "Epson RC+ Language Reference - Box"
(*4) For details, refer to the following.
- “Help”
- "Epson RC+ Language Reference - Plane"
(*5) The following output is produced under the conditions selected by SelRobot. After switching the conditions by SelRobot, wait 40 ms before inputting the data.
| Function Name | State of SelRobot1-SelRobot16 at SelRobot Input | |
|---|---|---|
| 0: All robots are selected | 1~ 16: Robot number is selected | |
| MotorsOn | ON when even one robot motor is on | ON when the selected robot motor is on |
| AtHome | ON when all robots are in the home position | ON when the selected robot is in the home position |
| PowerHigh | ON when even one robot is in the High power mode | ON when the selected robot is in the High power mode |
| MCalReqd | ON when even one robot has not performed MCal | ON when the selected robot has not performed MCal |
| ForceControlOn | ON when even one robot is performing a force control function | ON when the selected robot is performing a force control function |
(*6) If SelRobot1, SelRobot2, SelRobot4, SelRobot8, and SelRobot16 are set, information for the selected robot is output. If nothing is set, information on robot 1 is output.
(*\ 7) This is output in the Real format.
(*8) The total load ratio of user-created tasks is output. For the CPU load ratio, see the Task Manager.
(*9) This is turned on when any one of the controller alarm information or robot alarm information has occurred.
(*10) For details about the target that requires grease up, refer to the service manual.
(*11) EStopOn is not recommended because the outputs for the emergency stop and Controller power off states do not match. To output the emergency stop state, assign EStopOff.
(*12) The controller alarm and the output timing differed because the battery alarm and grease alarm is monitored every five minutes. It may be output up to 5 minutes after the controller alarm occurs.
“Alarm” will be on when the battery alarm or grease alarm of the Controller or Manipulator occurs when the “Robot maintenance” is enabled. For details on Robot maintenance, refer to the “Alarm” section of the maintenance manual.
(*13) The correspondence between Error, SError, and Warning outputs and the corresponding status/error numbers are shown below.
| Output Function Name | Error Number |
|---|---|
| Error | 1000 to 8000s |
| SError | 9000s |
| Warning | 410 to 900s |
For details on status numbers/error numbers, refer to the following manual.
“Status Code / Error Code List”
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