7.2 Robot Power-on .........................................................................................................34
7.2.1 Preparations before power-on.........................................................................34
7.2.2 System power-on.............................................................................................35
7.3 Robot Shutdown.........................................................................................................35
Chapter 8 Electrical Interface ..................................................................................................36
8.1 Overview....................................................................................................................36
8.2 Electrical Warnings and Cautions..............................................................................36
8.3 Controller I/O.............................................................................................................38
8.3.1 Common specifications of all digital I/Os ......................................................40
8.3.2 Safety I/O........................................................................................................42
8.3.3 General purpose digital I/O.............................................................................44
8.3.4 Digital input from a button .............................................................................45
8.3.5 General purpose analog I/O ............................................................................46
8.4 Ethernet......................................................................................................................47
8.5 Mains Connection......................................................................................................48
8.6 Robot Connection ......................................................................................................50
8.7 Tool I/O......................................................................................................................50
8.7.1 Tool power supply...........................................................................................52
8.7.2 Tool digital input.............................................................................................52
8.7.3 Tool digital output...........................................................................................53
8.7.4 Tool analog input ............................................................................................55
8.7.5 Tool analog output...........................................................................................55
8.7.6 Tool communication I/O .................................................................................56
Chapter 9 Teach Pendant..........................................................................................................57
9.1 Programming Pendant Display ..................................................................................58
9.1.1 Main Menu Area .............................................................................................59
9.1.2 General-purpose Display Area........................................................................62
9.1.3 Monitoring Area..............................................................................................64
9.1.4 Information Prompt Area ................................................................................66
9.1.5 Status Control Area.........................................................................................66
9.1.6 Coordinate Area ..............................................................................................67
9.1.7 Status DisplayArea.........................................................................................69
9.1.8 Submenu Area.................................................................................................70
9.2 Robot Axes and Coordinates Systems .......................................................................70
9.2.1 Basic Operations.............................................................................................70
9.2.2 Coordinate Systems and Axis Operations.......................................................72
9.3 Teaching.....................................................................................................................78
9.3.1 Preparation for Teaching.................................................................................78
9.3.2 Teaching Procedure.........................................................................................80
9.3.3 List of program instructions............................................................................90
9.4 Playback.....................................................................................................................92
9.4.1 Preparation......................................................................................................92
9.4.2 Playback Operation.........................................................................................92
9.5 User Processes ...........................................................................................................94
9.6 Monitoring .................................................................................................................94
9.6.1 Coordinates .....................................................................................................94
