ER6-1400V1.01
Industrial Robot Quick Operation Manual
38
means the detection of low level and 1 means the detection of high level.
5. Filtering time: in order to eliminate the interference signal, set a small non negative time,
in seconds.
Output interface:
1. Description output:
Serial
number
description
illustration
Output
signal
Operation mode
1
Servo
status
Servo status of current robot
high
/ low
level
automatic/
manual
effective
2
running
status
Status for whether the
current program is running
high
/ low
level
automatic/
manual
effective
3
Alarm
status
Is there an alarm at present?
high
/ low
level
automatic/
manual
effective
4
Servo
status
Servo status of current robot
high
/ low
level
automatic/
manual
effective
5
Operation
mode bit 1
Operation
mode bit 2
The binary number is arranged in the
form of bit 2 and bit 1. Judge the
current operation mode of the robot.
00: manual low speed - bit 1 no
signal, bit 2 no signal;
01: manual high speed - bit 1 has
signal, bit 2 has no signal;
10: Automatic mode - bit 1 has no
signal, bit 2 has signal;
11: Remote mode - bit 1 has signal,
bit 2 has signal.
high
/ low
level
automatic/
6
A1 occupied
output
A2 occupied
output
A3 occupied
output
Occupancy output signal of areas 1 to
4. When the robot enters the shared
area, it sends the occupancy output
signal, and when it exits the shared
area, it cancels sending the signal.
high
/ low
level
manual
effective
