Chapter 8 Electrical Interface ..................................................................................................35
8.1 Overview....................................................................................................................35
8.2 Electrical Warnings and Cautions ..............................................................................35
8.3 Controller I/O.............................................................................................................37
8.3.1 Common specifications of all digital I/Os ......................................................39
8.3.2 Safety I/O ........................................................................................................40
8.3.3 General purpose digital I/O.............................................................................43
8.3.4 Digital input from a button .............................................................................44
8.3.5 General purpose analog I/O ............................................................................44
8.4 Ethernet ......................................................................................................................46
8.5 Mains Connection ......................................................................................................46
8.6 Robot Connection ......................................................................................................48
8.7 Tool I/O ......................................................................................................................49
8.7.1 Tool power supply...........................................................................................51
8.7.2 Tool digital input .............................................................................................51
8.7.3 Tool digital output ...........................................................................................52
8.7.4 Tool analog input ............................................................................................54
8.7.5 Tool analog output...........................................................................................54
8.7.6 Tool communication I/O .................................................................................55
Chapter 9 Teach Pendant..........................................................................................................56
9.1 Programming Pendant Display ..................................................................................57
9.1.1 Main Menu Area .............................................................................................58
9.1.2 General-purpose Display Area ........................................................................61
9.1.3 Monitoring Area..............................................................................................63
9.1.4 Information Prompt Area ................................................................................65
9.1.5 Status Control Area .........................................................................................65
9.1.6 Coordinate Area ..............................................................................................66
9.1.7 Status Display Area.........................................................................................68
9.1.8 Submenu Area .................................................................................................69
9.2 Robot Axes and Coordinates Systems .......................................................................69
9.2.1 Basic Operations .............................................................................................69
9.2.2 Coordinate Systems and Axis Operations.......................................................71
9.3 Teaching .....................................................................................................................76
9.3.1 Preparation for Teaching.................................................................................76
9.3.2 Teaching Procedure.........................................................................................78
9.3.3 List of program instructions............................................................................88
9.4 Playback.....................................................................................................................90
9.4.1 Preparation ......................................................................................................90
9.4.2 Playback Operation.........................................................................................90
9.5 User Processes ...........................................................................................................92
9.6 Monitoring .................................................................................................................92
9.6.1 Coordinates .....................................................................................................93
9.6.2 Variables..........................................................................................................93
9.6.3 IO ....................................................................................................................95
9.6.4 Motor...............................................................................................................96
9.6.5 Operational Monitoring ..................................................................................98
