Elite EC66 - Page 4

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Doc No.：T202001005 www.elibot.cn
Chapter 8 Electrical Interface .................................................................................................. 35
8.1 Overview .................................................................................................................... 35
8.2 Electrical Warnings and Cautions .............................................................................. 35
8.3 Controller I/O ............................................................................................................. 37
8.3.1 Common specifications of all digital I/Os ...................................................... 39
8.3.2 Safety I/O ........................................................................................................ 40
8.3.3 General purpose digital I/O ............................................................................. 43
8.3.4 Digital input from a button ............................................................................. 44
8.3.5 General purpose analog I/O ............................................................................ 44
8.4 Ethernet ...................................................................................................................... 46
8.5 Mains Connection ...................................................................................................... 46
8.6 Robot Connection ...................................................................................................... 48
8.7 Tool I/O ...................................................................................................................... 49
8.7.1 Tool power supply ........................................................................................... 51
8.7.2 Tool digital input ............................................................................................. 51
8.7.3 Tool digital output ........................................................................................... 52
8.7.4 Tool analog input ............................................................................................ 54
8.7.5 Tool analog output........................................................................................... 54
8.7.6 Tool communication I/O ................................................................................. 55
Chapter 9 Teach Pendant .......................................................................................................... 56
9.1 Programming Pendant Display .................................................................................. 57
9.1.1 Main Menu Area ............................................................................................. 58
9.1.2 General-purpose Display Area ........................................................................ 61
9.1.3 Monitoring Area .............................................................................................. 63
9.1.4 Information Prompt Area ................................................................................ 65
9.1.5 Status Control Area ......................................................................................... 65
9.1.6 Coordinate Area .............................................................................................. 66
9.1.7 Status Display Area ......................................................................................... 68
9.1.8 Submenu Area ................................................................................................. 69
9.2 Robot Axes and Coordinates Systems ....................................................................... 69
9.2.1 Basic Operations ............................................................................................. 69
9.2.2 Coordinate Systems and Axis Operations ....................................................... 71
9.3 Teaching ..................................................................................................................... 76
9.3.1 Preparation for Teaching ................................................................................. 76
9.3.2 Teaching Procedure ......................................................................................... 78
9.3.3 List of program instructions ............................................................................ 88
9.4 Playback ..................................................................................................................... 90
9.4.1 Preparation ...................................................................................................... 90
9.4.2 Playback Operation ......................................................................................... 90
9.5 User Processes ........................................................................................................... 92
9.6 Monitoring ................................................................................................................. 92
9.6.1 Coordinates ..................................................................................................... 93
9.6.2 Variables .......................................................................................................... 93
9.6.3 IO .................................................................................................................... 95
9.6.4 Motor ............................................................................................................... 96
9.6.5 Operational Monitoring .................................................................................. 98