For RC90, RC700 :T, VT series:
| Name | Default | Description | Input acceptance condition (*1) |
|---|---|---|---|
| Start | 0 | Executes function selected at 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 | Specifies the executing Main function number. (*2) | |
| SelProg2 | 2 | ||
| SelProg4 | 3 | ||
| SelProg8 | Not set | ||
| SelProg16 | Not set | ||
| SelProg32 | Not set | ||
| Stop | 4 | All tasks and commands are stopped. | |
| Pause | 5 | All tasks are paused. (*3) | Running output ON |
| Continue | 6 | Continues the paused task. | Paused output ON Pause input OFF Stop input OFF |
| Reset | 7 | Resets emergency stop and error. (*4) | Ready output ON |
| Shutdown | Not set | Terminates the system | |
| ForcePowerLow | Not set | Operates as the forced low power function. The robot is operated in the low power mode. Power High control from the command is not accepted. Executes the following according to the controller preferences. Stops or temporarily stops all the tasks and commands. (*12) | Any time This input is acceptable even AutoMode output is OFF. |
| SelRobot | Not set | Changes the output condition of MotorsOn, AtHome, PowerHigh, and MCalReqd. (*9) | |
SelRobot1 SelRobot2 SelRobot4 SelRobot8 SelRobot16 | Not set | Specify the number of robot which executes a command. (*5) | |
| SetMotorsOn | Not set | Turn ON robot motors. (*5) (*6) | Ready output ON EStopOn output OFF SafeguardOn output OFF EStopOff output ON SetMotorsOff input OFF |
| SetMotorsOff | Not set | Turn OFF robot motors. (*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 the Robot Arm to the home position defined by the user. | 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, recover to the position where the safeguard was open.(*8) | 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 | Commands for an extended remote IO. 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)(*14) | |
SelAlarm1 SelAlarm2 SelAlarm4 SelAlarm8 | Not set | Specify the alarm number to cancel (*10)(*14) | |
| ALIVE | Not set | Input signal for alive monitoring of the controller. Same signal as the input will be output to ALIVE output. The master equipment can perform alive monitoring of the controller by switching the input periodically and checking the output signal. | |
| ExtCmd_0-15 | Not set | Commands for an extended remote IO. 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 omitted from the table. This is an input acceptance condition for all functions.
*2: "Start input" executes Function specified by the following six bits: SelProg 1, 2, 4, 8, 16, and 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 Help or the following manual:
"SPEL+ Language Reference- Pause""
*4: Turns OFF the I/O output and initializes the robot parameter. For details, refer to Help or the following manual:
"SPEL+ Language Reference- Reset""
*5: The values specified by "SelRobot1, 2, 4, 8, and 16" correspond to the robot numbers, when multiple robots are connected to the controller.
| Robot number | 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: The robot parameter will be initialized.
For details, refer to Help or the following manual:
"SPEL+ Language Reference- Motor"
*7: For details, refer to Help or the following manual:
"SPEL+ Language Reference- MCal"
*8: This is for experienced users only. Make sure that you fully understand the input specification before using.
CmdRunning output and CmdError output will not change for this input.
"NoEmgAbort task" will not stop by this input.
When the input changes from ON to OFF, all tasks and commands will stop.
*9: This function changes the output condition of MotorsOn, AtHome, PowerHigh, and MCalReqd.
By setting this signal with the condition selected using SelRobot1 - SelRobot16, you can switch the output condition.
Once you select the condition, it will be kept until you change it or turn off / restart the Controller. All manipulators are selected as default.
*10: The values specified by "SelAlarm1, 2, 4, and 8" correspond to 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 | Battery of the robot connected to DU1 | 0 | 0 | 1 | 0 |
| 5 | Grease of the robot connected to DU1 | 1 | 0 | 1 | 0 |
| 6 | Battery of the robot connected to DU2 | 0 | 1 | 1 | 0 |
| 7 | Grease of the robot connected to DU2 | 1 | 1 | 1 | 0 |
| 8 | Battery of the robot connected to DU3 | 0 | 0 | 0 | 1 |
| 9 | Grease of the robot connected to DU3 | 1 | 0 | 0 | 1 |
0=OFF, 1=ON
The following parts are subject to grease up.
- 6-axis robot: Bevel gear on the Joint #6
- SCARA, RS series: Ball screw spline unit on the Joint # 3
*11: The specified alarm can be canceled by selecting the conditions using SelAlarm1-SelAlarm8 and setting this signal.
*12: Operation of all tasks and commands, power mode of the robot, and PowerHigh command are executed by the setting value of the controller preferences.
- Preferences (1): "Motor power low when ForcePowerLow signal OFF"
- Preferences (2): "ForcePowerLow signal change pauses all tasks"
For details on controller preferences, see below.
[Setup]-[System Configuration]-[Controller]-[Preferences] Page
| Preferences (1) | Preferences (2) | ForcePowerLow | All tasks and commands | Power mode | PowerHigh |
|---|---|---|---|---|---|
| 0 | 0 | 1→0 | Abort | Low only | Accept |
| 0 | 0 | 0→1 | Abort | Low only | Not accept |
| 0 | 1 | 1→0 | Continue | High/Low | Accept |
| 0 | 1 | 0→1 | Pause | Low only | Not accept |
| 1 | 0 | 1→0 | Abort | Low only | Not accept |
| 1 | 0 | 0→1 | Abort | Low only | Accept |
| 1 | 1 | 1→0 | Pause | Low only | Not accept |
| 1 | 1 | 0→1 | Continue | High/Low | Accept |
*13: Do not execute the Restart command of the SPEL+ program and the Start signal of the remote input at the same time. Error 2503 may occur when the programs are executed at the same time.
*14: For firmware versions 7.5.3.X or later: the warning for the maintenance data cannot be canceled with ResetAlarm.