I/O Testing

Power off the system

MANDATORY EASY 1 MIN

Press the shutdown button on the teach pendant or press and hold the power button on the upper left of the teach pendant for 2 seconds to turn off the system.

1. The shutdown popup is displayed on the screen.

2. Press the OK button on the shutdown popup to properly shutdown the system.

Caution

• Press and hold the power button for more than 4 seconds to force system shutdown.

• Forced shutdown may cause robot and controller failure.

Connect wires

MANDATORY NORMAL 10 MIN

Connect the necessary cables to the flange I/O connectors after the tool is fixed. The pin map of the flange I/O must be checked.

• When power is supplied to the robot, the fifth terminal of each connector always outputs 24V.

• For more information, refer to Flange I/O.

Caution

• Make sure to cut off the robot’s power when connecting the tool and gripper.

• Make sure to configure tool and gripper measures to prevent workpieces falling from the tool when the robot power is cut off.

Note

To control/monitor the robot using an external device, connect the controller I/O or connect to a network, such as Modbus TCP, PROFITNET or EtherNet/IP.

• For more information, refer to Controller I/O Connection.

• For more information, refer to Network Connection.

Power on the system

MANDATORY EASY 1 MIN

Turn the system power on again. Press and hold the power button until the teach pendant screen powers up.

Test controller and flange I/O

MANDATORY NORMAL 10 MIN

The teach pendant features a function capable of testing the operation of the tool connected to the flange I/O.

The following tests can be performed through Status > I/O Overview or I/O Test of the teach pendant screen. For more information, refer to each item.

• Controller Digital Input

• Controller Digital Output

• Controller Analog Input

• Controller Analog Output