Epson VT6L

Setup & Operation 14. I/O Remote Settings
VT Rev.1 103
(*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