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)

1.47 R=Delete Point

Deletes the taught point.
(Rising Edge)

1.48 R=Add ARC-On

Adds the Arc-On function.

1.49 R=Add ARC-Off

Adds the Arc-Off function.

1.50 H=Speed 75% / L=0%

H = Speed 75% / L = Speed 0%

1.51 H=Speed 50% / L=0%

H = Speed 50% / L = Speed 0%

1.52 H=Speed 25% / L=0%

H = Speed 25% / L = Speed 0%

1.53 H=Speed 10% / L=0%

H = Speed 10% / L = Speed 0%

1.54 F=Pause Program

Pauses the program.
(Falling Edge)

1.55 H=Block Freedrive Button

Blocks direct teaching when High.

1.56 L=Block Freedrive Button

Blocks direct teaching when Low.

1.57 Duplex for Safety

Implements a redundant input function. The input is recognized only when both input signals are High.

1.58 F=Stop Program

Stops the program.
(Falling Edge)

1.59 F=Reset SOS / EMS State

Resets the SOS alarm.
The robot arm power is cut off, the same as when the emergency stop switch is activated.

1.60 F=Reset Modbus Server

Resets the Modbus server.

1.61 R=Run User Script 0

Executes User Script 0.

1.62 R=Run User Script 1

Executes User Script 1.

1.63 R=Run User Script 2

Executes User Script 2.

1.64 R=Run User Script 3

Executes User Script 3.

1.65 R=Run User Script 4

Executes User Script 4.

1.66 R=Run User Script 5

Executes User Script 5.

1.67 R=Run User Script 6

Executes User Script 6.

1.68 R=Run User Script 7

Executes User Script 7.

1.69 R=Run User Script 8

Executes User Script 8.

1.70 R=Run User Script 9

Executes User Script 9.

1.71 H=Ignore Self Collision

Ignores self-collision when High.

1.72 H=Conditional Script Exe Key

Executes the function assigned to the User Script when High.

1.73 R=Speed 50% / F=100%

R = Speed 50% / F = Speed 100%

1.74 R=Speed 25% / F=100%

R = Speed 25% / F = Speed 100%

1.75 H=Speed 100% / L=75%

H = Speed 100% / L = Speed 75%

1.76 H=Speed 100% / L=50%

H = Speed 100% / L = Speed 50%

1.77 H=Speed 100% / L=25%

H = Speed 100% / L = Speed 25%

1.78 R=Reset UI Connection

Disconnects the RB UI connection between the control box and the currently connected tablet.

1.79 H=Block SSS Function

Prevents the alarm generated when the SSS key is released by setting the SSS key to the shorted state.

1.80 H=Auto SSS Resume Key

Restarts the function that was paused when the SSS key was released.
(In this case, the SSS must be shorted again.)

1.81 R=Robot Arm PowerDown

Turns off the robot power.

1.82 H=Block D.In Special Functions

Disables Digital Input special functions on Digital ports with lower numbers than the assigned port when High.
(If this function is assigned to DI 8, the functions assigned to DI 0 to 7 are disabled.)

1.83 L=Block D.In Special Functions

Disables Digital Input special functions on Digital ports with lower numbers than the assigned port when Low.
(If this function is assigned to DI 8, the functions assigned to DI 0 to 7 are disabled.)

1.84 R=Global Speed Bar +

Increases the speed control bar by 10%.

1.85 R=Global Speed Bar -

Decreases the speed control bar by 10%.

1.86 R=Robot Jog Joint 0 +

Moves Joint 0 in the positive direction.

1.87 R=Robot Jog Joint 0 -

Moves Joint 0 in the negative direction.

1.88 R=Robot Jog Joint 1 +

Moves Joint 1 in the positive direction.

1.89 R=Robot Jog Joint 1 -

Moves Joint 1 in the negative direction.

1.90 R=Robot Jog Joint 2 +

Moves Joint 2 in the positive direction.

1.91 R=Robot Jog Joint 2 -

Moves Joint 2 in the negative direction.

1.92 R=Robot Jog Joint 3 +

Moves Joint 3 in the positive direction.

1.93 R=Robot Jog Joint 3 -

Moves Joint 3 in the negative direction.

1.94 R=Robot Jog Joint 4 +

Moves Joint 4 in the positive direction.

1.95 R=Robot Jog Joint 4 -

Moves Joint 4 in the negative direction.

1.96 R=Robot Jog Joint 5 +

Moves Joint 5 in the positive direction.

1.97 R=Robot Jog Joint 5 -

Moves Joint 5 in the negative direction.

1.98 R=Robot Jog Global X +

Moves in the positive X direction in the Global coordinate system.

1.99 R=Robot Jog Global X -

Moves in the negative X direction in the Global coordinate system.

1.100 R=Robot Jog Global Y +

Moves in the positive Y direction in the Global coordinate system.

1.101 R=Robot Jog Global Y -

Moves in the negative Y direction in the Global coordinate system.

1.102 R=Robot Jog Global Z +

Moves in the positive Z direction in the Global coordinate system.

1.103 R=Robot Jog Global Z -

Moves in the negative Z direction in the Global coordinate system.

1.104 R=Robot Jog Global RX +

Moves in the positive RX direction in the Global coordinate system.

1.105 R=Robot Jog Global RX -

Moves in the negative RX direction in the Global coordinate system.

1.106 R=Robot Jog Global RY +

Moves in the positive RY direction in the Global coordinate system.

1.107 R=Robot Jog Global RY -

Moves in the negative RY direction in the Global coordinate system.

1.108 R=Robot Jog Global RZ +

Moves in the positive RZ direction in the Global coordinate system.

1.109 R=Robot Jog Global RZ -

Moves in the negative RZ direction in the Global coordinate system.

1.110 R=Robot Jog Local X +

Moves in the positive X direction in the Local coordinate system.

1.111 R=Robot Jog Local X -

Moves in the negative X direction in the Local coordinate system.

1.112 R=Robot Jog Local Y +

Moves in the positive Y direction in the Local coordinate system.

1.113 R=Robot Jog Local Y -

Moves in the negative Y direction in the Local coordinate system.

1.114 R=Robot Jog Local Z +

Moves in the positive Z direction in the Local coordinate system.

1.115 R=Robot Jog Local Z -

Moves in the negative Z direction in the Local coordinate system.

1.116 R=Robot Jog Local RX +

Moves in the positive RX direction in the Local coordinate system.

1.117 R=Robot Jog Local RX -

Moves in the negative RX direction in the Local coordinate system.

1.118 R=Robot Jog Local RY +

Moves in the positive RY direction in the Local coordinate system.

1.119 R=Robot Jog Local RY -

Moves in the negative RY direction in the Local coordinate system.

1.120 R=Robot Jog Local RZ +

Moves in the positive RZ direction in the Local coordinate system.

1.121 R=Robot Jog Local RZ -

Moves in the negative RZ direction in the Local coordinate system.

1.122 R=Stop Program & Speed 0%

Stops the program and sets the speed to 0%.

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)

2.45 H=EMG Button Released / L=Pressed

Outputs High when the emergency switch is released.

2.46 L=EMG Button Released / H=Pressed

Outputs Low when the emergency switch is released.

2.47 L=Robot Speed under 250mm/s

Outputs Low when the robot arm speed is below 250 mm/s.

2.48 H=Robot Speed under 250mm/s

Outputs High when the robot arm speed is below 250 mm/s.

2.49 H=Near Joint Limit

Outputs High when the robot arm reaches a singularity.

2.50 H=Robot Arm under Activationg

Outputs High when the robot arm power is being supplied.

2.51 H=Under program Loading

Indicates the program loading state.

2.52 H=TeleOperation Master

Indicates TeleOperation Master state.

2.53 H=TeleOperation Slave

Indicates TeleOperation Slave state.

2.54 H=Servo Mode & Idle

Indicates Servo Mode (Idle state).

2.55 H=Safety EMS2 Pressed

Outputs High when the EMS2 wiring is not in a shorted state.

2.56 H=Safety PRS Pressed

Outputs High when the PRS wiring is not in a shorted state.

2.57 H=Safety HSS Pressed

Outputs High when the HSS wiring is not in a shorted state.

2.58 H=Safety SSS Pressed

Outputs High when the SSS wiring is not in a shorted state.