For RC90, RC700 :T, VT series:
| Name | Default | Description | |
|---|---|---|---|
| Ready | 0 | Turns ON when the controller startup completes and no task is running. | |
| Running | 1 | Turns ON when task is running. Turn OFF when "Paused output" is ON. | |
| Paused | 2 | Turns ON when pause task exists. | |
| Error | 3 | Turn ON in the error condition. Use "Reset input" to recover from the error condition. (*14) | |
| EStopOn | Not set | Turns OFF except in Emergency Stop. Turns ON in Emergency Stop. Turns OFF when the controller power is OFF. (*11) (*12) | |
| SafeguardOn | 5 | Turn ON with safety door open | |
| SError | 6 | Turns ON when critical error occurs. When a critical error occurs, "Reset input" does not function. Reboot the controller to recover. (*14) | |
| Warning | 7 | Turns ON when warning occurs. Task can be executed as usual even a warning condition. However, take action for the warning as soon as possible. (*14) | |
| EStopOff | 8 | Turns ON except in Emergency Stop. Turns OFF in Emergency Stop. Turns OFF when the controller power is OFF. (*12) | |
| MotorsOn | Not set | Turns ON when the robot motor is ON. (*5) | |
| AtHome | Not set | Turns ON when the robot is in the home position. (*5) | |
| PowerHigh | Not set | Turns ON when the robot's power mode is High. (*5) | |
| MCalReqd | Not set | Turns ON when the robot hasn't executed MCal. (*5) | |
| RecoverReqd | Not set | Turns ON when at least one robot is waiting for Recover after the safeguard is closed. | |
| RecoverInCycle | Not set | Turns ON when at least one robot is executing Recover. | |
| WaitingRC | Not set | Turns ON when the Controller is waiting to connect with RC+. | |
| CmdRunning | Not set | Turns ON when an input command is executing. | |
| CmdError | Not set | Turns ON when an input command cannot be accepted. | |
CurrProg1 CurrProg2 CurrProg4 CurrProg8 CurrProg16 CurrProg32 | Not set | Indicates the running or the last main function number (*1) | |
| AutoMode | Not set | Turns ON in remote input acceptable status. (*2) | |
| TeachMode | Not set | Turns ON in TEACH mode. (*12) | |
| TestMode | Not set | Turns ON in TEST mode. | |
| EnableOn | Not set | Turns ON when the enable switch is ON. (*12) | |
ErrorCode1 ⋮ ErrorCode8192 | Not set | Indicates the error number. | |
InsideBox1 ⋮ InsideBox15 | Not set | Turns ON when the robot is in the approach check area. (*3) | |
InsidePlane1 ⋮ InsidePlane15 | Not set | Turns ON when a robot is on the approach plane area. (*4) | |
| Alarm | Not set | Turns ON when any of the alarms is occurring. (*9) (*15) | |
| Alarm1 | Not set | Turns ON when a battery alarm of the controller is occurring. (*13) (*15) | |
| Alarm2 | Not set | Turns ON when a battery alarm of the robot connected to CU is occurring. (*13) (*15) | |
| Alarm3 | Not set | Turns ON when a grease alarm of the robot connected to CU is occurring. (*10) (*13) (*15) | |
| Alarm4 | Not set | Turns ON when a battery alarm of the robot connected to DU1 is occurring. (*13) (*15) | |
| Alarm5 | Not set | Turns ON when a grease alarm of the robot connected to DU1 is occurring. (*10) (*13) (*15) | |
| Alarm6 | Not set | Turns ON when a battery alarm of the robot connected to DU2 is occurring. (*13) (*15) | |
| Alarm7 | Not set | Turns ON when a grease alarm of the robot connected to DU2 is occurring. (*10) (*13) (*15) | |
| Alarm8 | Not set | Turns ON when a battery alarm of the robot connected to DU3 is occurring. (*13) (*15) | |
| Alarm9 | Not set | Turns ON when a grease alarm of the robot connected to DU3 is occurring. (*10) (*13) (*15) | |
| PositionX | Not set | Outputs current X coordinate in the World coordinate system. (*6) (*7) | |
| PositionY | Not set | Outputs current Y coordinate in the World coordinate system. (*6) (*7) | |
| PositionZ | Not set | Outputs current Z coordinate in the World coordinate system. (*6) (*7) | |
| PositionU | Not set | Outputs current U coordinate in the World coordinate system. (*6) (*7) | |
| PositionV | Not set | Outputs current V coordinate in the World coordinate system. (*6) (*7) | |
| PositionW | Not set | Outputs 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 factor of the user program. (*8) | |
| ESTOP | Not set | Outputs how many times emergency stops have been executed. | |
| ALIVE | Not set | Output signal for alive monitoring of the controller. The signal input by ALIVE input will be output. The master equipment can perform alive monitoring of the controller by switching the input periodically and checking the output signal. | |
| ForceControlOn | Not set | Turns ON when the robot is executing the force control function. (*5) | |
| ExtCmdGet | Not set | Commands for an extended remote IO. For details, refer to the following manual. "Remote Control Reference - 4. 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 current or the last function number of "CurrProg1, 2, 4, 8, 16, or 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 function is available in the following conditions.
- The setting is Auto mode and the control device is remote.
- The setting is Program mode and Remote I/O is enabled.
*3: For details, refer to Help or the following manual:
"SPEL+ Language Reference - - Box"
*4: For details, refer to Help or the following manual:
- "SPEL+ Language Reference - - Plane"
*5: Manipulator status is output as follows, according to the condition selected in SelRobot. Wait at least 40 ms before inputting the signal after changing the condition in SelRobot.
| Name | (SelRobot1 - SelRobot16) condition when inputting SelRobot | |
|---|---|---|
| 0: All robots are selected | 1 - 16: Particular robot number is selected | |
| MotorsOn | Turns ON when at least one motor is ON. | Turns ON when the motor of the selected robot is ON. |
| AtHome | Turns ON when all robots are in the home position. | Turns ON when the selected robot is in the home position. |
| PowerHigh | Turns ON when at least one robot's power mode is High. | Turns ON when the selected robot's power mode is High. |
| MCalReqd | Turns ON when at least one robot hasn't executed MCal. | Turns ON when the selected robot hasn't executed MCal. |
| ForceControlOn | Turns ON when at least one robot is executing the force control function. | Turns ON when the selected robot is executing the force control function. |
*6: Outputs information of the selected robot when SelRobot1, SelRobot2, SelRobot4, SelRobot8, and SelRobot16 are set. If not, information of Robot 1 will be output.
*7: Outputs information in Real format.
*8: Outputs the total load factor of the user created tasks. For details on the CPU load factor, refer to the task manager.
*9: The signal turns on when the alarm occurs either in the controller alarm information or the robot alarm information.
*10: For details about the target of grease up, refer to each manipulator manuals.
*11: EStopOn is not recommended because the output in the emergency stop state and the controller power off state do not match. Assign EStopOff to output the emergency stop status.
The default setting has also been changed to the specification that EStopOff is assigned.
When using EPSON RC+7.0 Ver. 7.5.0 or earlier in connection with a newly purchased Controller, EstopOff output can be used according to the following procedure:
- Set the remote I/O output settings to their default status.
- Reset each remote I/O output.
*12: Do not use the following signals for safety-related functions. The signals do not meet Cat 3&PLd.
- EStopOn
- EStopOff
- TeachMode
- EnableOn
*13: For firmware versions 7.5.2.x or earlier: The occurrence of battery alarm and grease alarm are monitored every 5 minutes. The alarm occurrence and output timing on the controller are different. It may be output up to 5 minutes after the alarm is occurred on the controller.
For firmware versions 7.5.2.x or earlier: “Alarm” will on when battery alarm or grease alarm of Controller or Manipulator occurs with “Robot maintenance” enabled. For maintenance, refer to the following manuals:
- For FRC700-D, RC700-E: "Robot Controller Manual - Alarm"
- For RC700, RC90 series: "Robot Controller Maintenance Manual - Alarm"
- For T, VT series: "Robot Maintenance Manual - Alarm"
*14: Following shows status number/error number of output (Error, SError, Warning).
- Error: 1000 to 8000s
- SError: 9000s
- Warning: 410 to 900s
For more information of status number/error number, refer to following manual.
"Status Code / Error Code List" manual
*15: For firmware versions 7.5.3.x or later: When a battery or grease is set in the robot maintenance, Alarm or Alarm 1 to 9 will not be activated.