Concurrent I/O•Parameter - Motoman

1.6 Specific Output Signals (5xxx)State5062: MACHINE LOCK SETTINGThis signal indicates that the machine lock is set.StateState5063: SOFT LIMIT RELEASE SETTINGThis signal indicates that the soft limit is released. Switching to play mode automaticallyreleases the soft limit and turns off this signal.5064: CHECK OPERATION SETTINGThis signal indicates the check operation is set.StateStateStateStateStateIndication of Start/Stop and Status5170 to 5180: SERVO ON STATUSThese signals indicate that the servo power for each robot/station is on. With the signalon, the corresponding servo power for each robot/station is on.5066: POSITION CHECK COMPLETEDThis signal indicates that the position check operation has been completed after“Alarm 4107: OUT OF RANGE (ABSO DATA)” occurred . The signal stays on if thealarm does not occur after power on.5070: OPERATINGThis signal indicates that the manipulator has been started. That is, the manipulator iseither executing the job, ready for reserved starting, ready for multi-series starting, orperforming test run. This signal is synchronized with the state of the “START” buttonon the playback panel.5071: HOLDINGThis signal indicates that “HOLD” is being instructed with the programming pendantand it can only be released with the programming pendant. Check this signal if themanipulator does not operate.5073: SERVO ONThis signal indicates that after the servo power is turned on, internal processing suchas current position preparation has been completed and the system is ready to accept“START” instruction. This can be used for determining whether the system is ready forexternal start.1-46