This signal turns ON when the current tool center point lies inside a pre-defined space (Cube 2). Use this signal to prevent interference with other manipulators and jigs.This signal turns ON when the current tool center point lies inside a the operation origin area. Use this signal to evaluate whether the robot is in the start positionThis signal turns ON when the manipulator operates. It turns OFF when the currently executed line is moved with the cursor or when editing operation is carried out after HOLD is applied during operation. Therefore, this signal can be used as a restart interlock after a HOLD is applied. However, it also turns ON in the TEACH mode and TEACH MODE SELECTED signal must be referred together.
Functions the same as the [START] button in the playback panel .
Only the rising edge of the signal is valid. It starts robot operation (playback). This signal is invalid if external start is prohibited from the playback condition display Only the rising edge of the signal is valid. It calls up the top of the robot program, that is the top of the master job *1. This signal is invalid during playback, during teach-lock and when play master or call is prohibited (set from the playback operation condition display).After an alarm or error has occurred and the cause been corrected, this signal resets the alarm or error.Functions the same as [REMOTE] on the playback panel. Valid only while the signal is ON. It selects the REMOTE mode.
Functions the same as [MODE]
on the playback panel. Only the rising edge of the signal is valid. It selects the PLAY mode. If designated simultaneously with other modes, the TEACH mode takes priority. This signal is invalid if external mode selection is prohibited from the operation condition display.The TEACH mode is selected if this signal turns ON during PLAY mode. Switching to other modes is disabled while this signal is ON. If this signal turns ON while the SELECT PLAY MODE signal is ON, this signal takes priority and the TEACH mode is selected.
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