I/O Function
###System Predefined Status
| Action | Description |
|---|---|
| None | No action triggered |
| HandGuide | Level triggering. When a Logic High level signal is connected, the robot will enter the HandGuide mode. * Ignore input if there are other conditions that do not allow HandGuide. * It is valid in manual mode. |
| move to home | Level triggering. When a Logic High level signal is connected, the robot starts MoveJ to the home. * Keep the Logic High during the robot movement, otherwise the robot will stop moving. * It is valid in link mode. |
| Start program | Edge triggering. Start the currently loaded program when rising edge. * It is valid in link mode. |
| Stop program | Edge triggering. Stop the currently running program when rising edge. * It is valid in link mode. |
| Pause program | Edge triggering. Suspend a currently running program when rising edge. * It is valid in link mode. |
| Recover program | Edge triggering. Resume running a paused program when rising edge. * It is valid in link mode. |
| Disable popup | Edge triggering. Disable the current popup when rising edge. * It is valid in link mode. |
| Robot power-on | Edge triggering. * Power on the robot when rising edge while the robot is in poweroff state. The robot will then switch from poweroff to idle state. * Release the brake when rising edge while the robot is in idle state. The robot will then switch from idle state to operating state. * It is valid in link mode. |
| Robot poweroff | Edge triggering. Power off the robot when rising edge while the robot is in operation or idle state. The robot will then switch from running or idle state to poweroff state. * It is valid in link mode. |
| Load program | Edge triggering. Load the selected program when rising edge. * It is valid in link mode. |
| actions in the program | signal status |
|---|---|
| None | No actions |
| Logic low after program stop | When the program execution is completed or terminated, logic low will be set. |
| Logic high after program stop | When the program execution is completed or terminated, logic high will be set. |
| Program running | When the program is executing, logic high will be set; When the program is stopped or paused, logic low will be set. |
| Program paused | When the program is paused, logic high will be set. |
| Arrival at home | When the robot arm joint's spatial position reaches the home, logic high will be set. |
| HandGuide | When the robot is in the HandGuide mode, logic high will be set. |
| Robot power-on | When the robot arm is powered on, logic high will be set. |
| Internal emergency stop | When the robot's emergency stop device triggers an emergency stop, logic high will be set. * The functions of the robot's emergency stop device cover teach pendant, control cabinet and fixed emergency stop input. * When connected to the emergency stop input of another robot, shared robot emergency stop can be achieved. |
| External emergency stop | When the external emergency stop device triggers an emergency stop, logic high will be set. * The external emergency stop device can be configured via the "emergency stop" input into the security I/O port. |
| System error | In case of failure, overrun, emergency stop, safe stop or protective stop, logic high will be set. |
| Non-system error | When the system is in normal mode, reduced mode, or recovery mode, logic high will be set. |
| Robot operable | When the brake is released, the robot is powered on and in operation, logic high will be set. |
| actions in the program | signal status |
|---|---|
| None | No actions |
| Minimum after program stop | The minimum voltage will be output when the program execution is completed or terminated. |
| Maximum after program stop | The maximum voltage will be output when the program execution is completed or terminated. |
| Maximum during program runtime | The maximum voltage will be output when the program is executing; The minimum voltage will be output when the program is stopped or paused. |
| Maximum after program pause | The maximum voltage will be output when the program is paused. |
| Maximum at home | The maximum voltage will be output when the robot arm joint's spatial position reaches the home. |
| Maximum in HandGuide mode | The maximum voltage will be output when the robot is in the HandGuide mode. |
| Maximum when the robot is powered on | The maximum voltage will be output when the robot arm is powered on. |
| Maximum when internal emergency stop is triggered | The maximum voltage will be output when the robot's integral emergency stop device triggers an emergency stop. * The functions of the robot's emergency stop device cover teach pendant, control cabinet and fixed emergency stop input. * When connected to the emergency stop input of another robot, shared robot emergency stop can be achieved. |
| Maximum when external emergency stop is triggered | The maximum voltage will be output when the external emergency stop device triggers an emergency stop. * The external emergency stop device can be configured via the "emergency stop" input into the security I/O port. |
| Maximum when a system error occurs | The maximum voltage will be output in case of failure, overrun, emergency stop, safe stop, or protective stop. |
| Maximum when there is no system error | The maximum voltage will be output when the system is in normal mode, reduced mode, and recovery mode. |
| Maximum when the robot is operable | The maximum voltage will be output when the brake is released, the robot is powered on and in operation. |