Manual, Control Module, PROFINET, DL10
Document #9620-20-C-DL10-04
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com
C-9
Table 2.2—I/O Bit map, Robot Inputs from Master Module
Byte BitNumber Name Description/Function
0
0 Locked The Tool Changer is locked.
1 Unlocked The Tool Changer is unlocked.
2
Input/Logic Power
Good
US1 Power Present I/P.
3
Output Power
Available
US2 Power Present I/P.
4 RTL1
Ready-to-Lock Prox1 I/P.
5 RTL2 Ready-to-Lock Prox2 I/P.
6 Tool Present The Master and Tool are in electrical contact.
7 Tool Power is on
Indicates that the Arc Prevention Circuit is turned ON and
power is provided to the Tool.
1
0 Unlatch Enabled Unlatch Enabled Status Information.
1 TSIV TSI Switch Verify.
2 TSRV TSI Relay Verify.
3 Reserved
4 RTLV1
Ready-to-Lock Relay 1 Verify.
5 RTLV2 Ready-to-Lock Relay 2 Verify.
6 to 7 Reserved
2
0 Error on Latch Overload or short circuit on the Latch Output.
1 Error on Unlatch Overload or short circuit on the Unlatch Output.
2 Reserved
3 Unsafe Unlatch Unlatch rejected due to an unsafe condition present.
4
Lock/Unlock Sensor
Fault
Lock and Unlock Inputs ON at the same time.
5 COMM Error
Tool-ID communication timeout.
6 RTL/RTLV Mismatch RTL state does not match the RTLV state.
7 TSIV/TSRV Mismatch TSIV state does not match the TSRV state.
3 0 to 7 Reserved
4
0
Tool-ID Switch1 Bit1
N/A
1
Tool-ID Switch1 Bit2
2 Tool-ID Switch1 Bit4
3 Tool-ID Switch1 Bit8
4 Tool-ID Switch2 Bit1
5 Tool-ID Switch2 Bit2
6 Tool-ID Switch2 Bit4
7 Tool-ID Switch2 Bit8
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