External Control (I/O / Fieldbus) 38 DESKTOP ROBOT JR3000
3.2
Output
•
Ready for Start (#sysOut1)
When the robot is ready to start, this signal comes ON.
This occurs in the following situations:
(1)
Mechanical initialization standby when the power is turned ON.
(2)
Mechanical initialization standby after an emergency stop and emergency stop cancellation.
(3)
Waiting for program start at the work home position.
(4)
Waiting for restart after a temporary stop.
(5)
Waiting for start due to a point job
waitStart
command.
If the Running (#sysOut5) signal is OFF, the robot is under conditions 1, 2 or 3.
Also, when the Ready for Start (#sysOut1) signal is ON, the Robot Stopped (#sysOut2) signal
is always also ON. However, this is not so for the reverse. If the robot is stopped because it is
waiting for a signal, then the Robot Stopped (#sysOut2) signal is ON, but the Ready for Start
(#sysOut1) signal will not come ON.
•
Robot Stopped (#sysOut2)
When the robot is stopped, this signal is ON, when the robot is moving, it is OFF. If you turn
the “(A) Software Interlock” (#sysIn2, #sysIn14) signal ON when this signal is ON (the robot is
stopped), start is inhibited. Even if you try to start the robot, it will not move.
If you turn the “(A) Software Interlock” (#sysIn2, #sysIn14) signal ON when this signal is OFF
(the robot is moving), it will make an urgent stop.
•
Program Number ACK (#sysOut3)
This is a response signal for Program Number Load (#sysIn3). When you turn Program Number
Load (#sysIn3) ON, this signal comes ON after Program Number (#sysIn4 to #sysIn10) is
loaded. If Program Number Load (#sysIn3) goes OFF, this signal also goes OFF.
•
Program Number Error (#sysOut4)
This signal comes ON when you specify an unregistered program number in Switch Run/
External Run Mode.
•
Running (#sysOut5)
When you start to run a program this signal comes ON. When the program finishes it goes OFF.
•
Error (#sysOut6)
This signal comes ON when an error occurs.
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