Control Box Digital I/O Dedicated Function v221004

1. Control Box Digital Input Function Definition

1.1 R=Start Program (Once)

Idle: Run the program currently loaded once.
Pause: Restart the program.
(Rising Edge)

1.2 R=Stop Program

Stops actions and running programs.
(Rising Edge)

1.3 R=Pause Program

Pause the running program.
(Rising Edge)

1.4 R=FreeDriveOn / F=Off

R=Use direct teaching mode.
F=Don’t use direct teaching mode.

1.5 R=Speed 100% / F=0%

R=Set the speed bar to 100%.
F=Set the speed bar to 0%.

1.6 R=Real mode / F=simulation

R=Change to real robot mode.
F=Change to simulation mode.

1.7 R=Initialize Robot

Activate robot arm (Servo on) and switch to real robot mode.
(Rising Edge)

1.8 H=Temporary Collision off

Turns off external crash detection.
(High State)

1.9 H=Auto-Initialize Key

Key port for using the 'Automatic Activation with Key' setting.
(High State)

1.10 R=Resume from Out Coll. Stop

Release the stop due to external collision detection.
(Rising Edge)

1.11 R=Point Add

Add the current position-information of the robot arm as a point under the Move function.
(Rising Edge)

1.12 R=Start Program (Repeat)

Idle: Repeat starting the program currently loaded.
Pause: Restart the program.
(Rising Edge)

1.13 R=Approach to Begin

Move to the starting position (Home-pos) defined in the program currently loaded.
(Rising Edge)

1.14 R=Program Resume

Restart the paused program.
(Rising Edge)

1.15 H=Quick Freedrive Change

It's a function to grab the Servo-lock when exit the direct teaching mode.
(High State)

1.16 R=Pause / F=Resume Program

R=Pause the program.
F=Restart the program.

1.17 F=Pause / R=Resume Program

F=Pause the program.
R=Restart the program.

1.18 H=Speed 100% / F=0%

H=Set the speed bar to 100%.
F=Set the speed bar to 0%.

1.19 R=Load Default Program

Loads a program set as the default program.
(Rising Edge)

1.20 F=Robot Arm Power Down

Turn off the DC power applied to the robot's arm.
(Falling Edge)

1.21 R=Touch Sensing

When using the touch sensing function, this is the port that connects the touch sensing signal output-line from the welding machine.
(Rising Edge)

1.22 F=Touch Sensing

When using the touch sensing function, this is the port that connects the touch sensing signal output-line from the welding machine.
(Falling Edge)

1.23 H=No Arc

When a signal is on (if high-state), activate the No-Arc function.
(High State)

1.24 H=Program Start Block

The signal cannot start the program while it is in the high-state.
(High State)

1.25 R=Ext.Joint 0 Plus / F=stop

R=Additional axis 0 moves in the (+) direction / F=stop

1.26 R=Ext.Joint 0 Minus / F=stop

R=Additional axis 0 moves in the (-) direction / F=stop

1.27 R=Ext.Joint 1 Plus / F=stop

R=Additional axis 1 moves in the (+) direction / F=stop

1.28 R=Ext.Joint 1 Minus / F=stop

R=Additional axis 1 moves in the (-) direction / F=stop

1.29 R=Ext.Joint 2 Plus / F=stop

R=Additional axis 2 moves in the (+) direction / F=stop

1.30 R=Ext.Joint 2 Minus / F=stop

R=Additional axis 2 moves in the (-) direction / F=stop

1.31 H=Safety Speed

Switch the robot arm's motion speed to the safe speed range.
(High State)

1.32 F=User Coord 0 ← TCP frame

Change the setting value of user coordinate 0 to the position/rotation of the TCP coordinate system of the current robot arm.
(Falling Edge)

1.33 F=User Coord 1 ← TCP frame

Change the setting value of user coordinate 1 to the position/rotation of the TCP coordinate system of the current robot arm.
(Falling Edge)

1.34 F=User Coord 2 ← TCP frame

Change the setting value of user coordinate 2 to the position/rotation of the TCP coordinate system of the current robot arm.
(Falling Edge)

1.35 F=Load & Run Program Table

Loads and plays the program set at the number of the corresponding input port in the Program Table.
(Falling Edge)

1.36 R=Start Prog. (Once) / F=Stop Prog.

R=Run the loaded program once / F=Stop the program

1.37 R=Start Prog. (Repeat) / F=Stop Prog.

R=Run the loaded program repeatedly / F=Stop the program

1.38 F=Change Global Pinpoint #’s Pos

Save the global pin-point as the current point value of the robot arm.
(Falling Edge)

1.39 R=EXT.Joint 0 Slow Plus / F=stop

R=Additional axis 0 slowly moves in the (+) direction / F=stop

1.40 R=EXT.Joint 0 Slow Minus / F=stop

R=Additional axis 0 slowly moves in the (-) direction / F=stop

1.41 R=EXT.Joint 1 Slow Plus / F=stop

R=Additional axis 1 slowly moves in the (+) direction / F=stop

1.42 R=EXT.Joint 1 Slow Minus / F=stop

R=Additional axis 1 slowly moves in the (-) direction / F=stop

1.43 R=EXT.Joint 2 Slow Plus / F=stop

R=Additional axis 2 slowly moves in the (+) direction / F=stop

1.44 R=EXT.Joint 2 Slow Minus / F=stop

R=Additional axis 2 slowly moves in the (-) direction / F=stop

1.45 R=Reset SOS

Initialize (reset) the SOS state.
(Rising Edge)

1.46 F=Reset SOS

Initialize (reset) the SOS state.
(Falling Edge)

2. Control Box Digital Output Function Definition

2.1 H=Program Run / L=Idle

H=Running a program or executing an action command
L=Idle Situation

2.2 L=Program Run / H=Idle

L=Running a program or executing an action command
H=Idle Situation

2.3 H=Collision Detected

Indicates whether an out-collision or self-collision has been detected.
(High State)

2.4 H=Direct Teaching mode

Indicates that direct instruction mode is running.
(High State)

2.5 Bypass Din

Passes digital input signals of the same number as the selected port.

2.6 Bypass Tool Din 0

Passes tool flange input port 0 signal.

2.7 Bypass Tool Din 1

Passes tool flange input port 1 signal.

2.8 H=Robot Ready / L=Not Init.

H=Robot Arm Activation Status
L=Robot Arm Disabled

2.9 H=Real mode / L=Simulation

H=Real Robot Mode Status
L=Simulation Mode Status

2.10 H=Robot Moving / L=Idle

H=When the robot's arm is moving
L=When the robot arm is stationary

2.11 L=Robot Moving / H=Idle

L=When the robot's arm is moving
H=When the robot arm is stationary

2.12 H=Robot Initialize Fail

When the robot fails during the activation process
(High State)

2.13 H=Robot Power On / L=Off

H=DC power applied to robot arm
L=Power-off Status

2.14 H=Coll. Detection On / L=Off

H=External collision detection mode on
L=External collision detection mode off

2.15 H=Pause state

Indicates that the program and operation are paused.
(High State)

2.16 H=Inbox 0 Trap Flag On

Indicates the status of the trap at in-box 0.
(High State)

2.17 H=Inbox 1 Trap Flag On

Indicates the status of the trap at in-box 1.
(High State)

2.18 PWM Module

Use the port as a PWM module.

2.19 H=TPU is conndected

Indicates that the Teaching Pendant (Ui) is connected.
(High State)

2.20 H=Run in MAKE page

Indicates that the program is currently running in the MAKE window.
(High State)

2.21 H=Run in PLAY page

Indicates that the program is currently running in the PLAY window.
(High State)

2.22 H=Is Conveyor mode

Indicates that conveyor mode is in use.
(High State)

2.23 H=Control Box Boot

Indicates the controller box boot-complete status.
(High State)

2.24 H=Force Control mode

Indicates that force control mode is in use.
(High State)

2.25 PC Alive Pulse

A pulse signal (Alive signal) 0.5 Hz to confirm that the main PC in the control box is alive.

2.26 H=Speed Bar 100%

Indicates that the speed control bar is 100%.
(High State)

2.27 H=Last Program Load Success

Indicates that the last run of 'Load a program' was successful.
If there is a grammatical error in the written program, the load fails.
(High State)

2.28 H=TCP is in Inbox 0

Indicates that TCP has entered the in-box area 0.
(High State)

2.29 H=TCP is in Inbox 1

Indicates that TCP has entered the in-box area 1.
(High State)

2.30 H=Is Alarm

Indicates that the alarm function on the program has been turned on and program is paused.
(High State)

2.31 H=Robot posture is Begin posture

Indicates that the robot arm is currently in the start position (home position).
The starting position (home position) is defined based on the currently loaded program.
(High State)

2.32 H=Emergency Teaching Enable

Indicates that emergency direct teaching mode is enabled.
(High State)

2.33 H=Prog. Run in Sub.P area

When the currently running program section is a sub-program (Sub.P ), High signal is output.
(High State)

2.34 H=Normal Program Run / L=Others

H=Normal program play status / L=Other cases
(A case that is not a pause due to pause or external collision detection is defined as 'normal')
(High State)

2.35 L=Normal Program Run / H=Others

L=Normal program play status / H=Other cases
(A case that is not a pause due to pause or external collision detection is defined as 'normal')
(Low State)

2.36 H=Hand Controller F1 pressed

Indicates that the F1 button on the hand controller is pressed.

2.37 H=Hand Controller F2 pressed

Indicates that the F2 button on the hand controller is pressed.

2.38 H=Hand Controller F3 pressed

Indicates that the F3 button on the hand controller is pressed.

2.39 H=Hand Controller F4 pressed

Indicates that the F4 button on the hand controller is pressed.

2.40 L=TCP is in Inbox 0

Indicates that TCP has entered the in-box area 0.
(Low State)

2.41 L=TCP is in Inbox 1

Indicates that TCP has entered the in-box area 1.
(Low State)

2.42 Sync with Dout 0~15

Indicates the signal in synchronization with the signal from 0 to 15.

2.43 H=Is SOS State

Indicates the SOS status.
(High state)

2.44 L=Is SOS State

Indicates the SOS status.
(Low state)