Epson T-B Series User Manual

T3-B T6-B Manipulator 14. I/O Remote Settings
T-B series Rev.1 127
(*6) Initializes the manipulator parameter.
For details, refer to EPSON RC+ 7.0 Online Help or Motor in SPEL
+
Language Reference.
(*7) For details, refer to EPSON RC+ 7.0 Online Help or MCal in SPEL
+
Language Reference.
(*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 #
Target
SelAlarm1
SelAlarm2
SelAlarm4
SelAlarm8
1
Controller battery
1
0
0
0
2
-
0
1
0
0
3
Manipulator grease
1
1
0
0
4
-
0
0
1
0
5
-
1
0
1
0
6
-
0
1
1
0
7
-
1
1
1
0
8
-
0
0
0
1
9
-
1
0
0
1
0=OFF, 1=ON
The following parts are subject to grease up.
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 manipulator, and PowerHigh command by the
setting of the manipulator preferences.
Preferences (1): “Motor power low when ForcePowerLow signal OFF”
Preferences (2): “ForcePowerLow signal change pauses all tasks”
For details of the manipulator preferences, refer to EPSON RC+ 7.0 User’s Guide
[Setup]-[System Configuration]-[Controller]-[Preferences] in 5.12.2 [System
Configuration] Command (Setup Menu).
Preferences (1) Preferences (2) ForcePowerLow
All tasks and
commands
Power mode PowerHigh
0
0
1→0
Stop
Low only
Accept
0
0
0→1
Stop
Low only
Not accept
0
1
1→0
Continue
High/Low
Accept
0
1
0→1
Temp. stop
Low only
Not accept
1
0
1→0
Stop
Low only
Not accept
1
0
0→1
Stop
Low only
Accept
1
1
1→0
Temp. stop
Low only
Not accept
1
1
0→1
Continue
High/Low
Accept

Epson T-B Series Specifications

General

Brand	Epson
Model	T-B Series
Category	Robotics
Language	English