Function I/O Descriptions
About 3 min
Function I/O Descriptions
DI Descriptions
| Icon | Function Name | Function Description | Trigger Method |
|---|---|---|---|
 | None | None | None |
 | Start Program | When the Start Program DI is triggered, the robot executes the currently open program in the programming control interface. This DI is typically used to resume a stopped program. Note: Ensure the program in the programming interface is saved before triggering this DI. If there is an unsaved program, the robot will execute the last saved program when this DI is triggered. | Rising edge signal |
 | Pause Program | When the Pause Program DI is triggered, the robot pauses the currently open program in the programming control interface. The program can be resumed by triggering the Continue Program DI. | Rising edge signal |
 | Continue Program | When the Continue Program DI is triggered, the robot resumes executing the currently open program in the programming control interface. This DI is typically used to resume a paused program. | Rising edge signal |
 | Stop Program | When the Stop Program DI is triggered, the robot stops the currently open program in the programming control interface. The program can be resumed by triggering the Start Program DI. | Rising edge signal |
 | Power On | When the Power On DI is triggered, the robot powers on. | Rising edge signal |
 | Power Off | When the Power Off DI is triggered, the robot powers off. | Rising edge signal |
 | Enable Robot | When the Enable Robot DI is triggered, the robot is enabled. | Rising edge signal |
 | Disable Robot | When the Disable Robot DI is triggered, the robot is disabled. | Rising edge signal |
 | Decelerated Speed Level 1 | When the Decelerated Speed Level 1 DI is triggered, the robot slows down and enters the first level of speed decelerated mode. | Low-level signal |
 | Protective Stop | When the Protective Stop DI is triggered, the robot's movement stops. | Low-level signal |
 | Return to Initial Position | When the Return to Initial Position DI is triggered, the robot moves to the safe orientation set in the Settings - Safety Settings - Robot Orientation interface. | Rising edge signal |
 | Decelerated Speed Level 2 | When the Decelerated Speed Level 2 DI is triggered, the robot slows down and enters the level 2 of decelerated mode. | Low-level signal |
 | Clear Collision | When the Clear Collision DI is triggered, the robot's collision alarm is cleared. | Rising edge signal |
 | Enter Drag Mode | When the Enter Drag Mode DI is triggered, the robot enters drag mode. | Rising edge signal |
 | Exit Drag Mode | When the Exit Drag Mode DI is triggered, the robot exits drag mode. | Rising edge signal |
Note：
- The decelerated speed level 2 should be lower than level 1.
- When triggering function I/Os, edge signals (rising or falling) are detected. To avoid delays caused by network communication fluctuations affecting the function I/O trigger, it is recommended to maintain the signal level for at least 500 ms before and after the edge signal.
DO Descriptions
| Icon | Robot Status | Function Description | Signal Status |
|---|---|---|---|
| None | None | None |
 | Idle | Idle indicates that the robot is not running any program. | High-level signal |
| Program Paused | Program Paused indicates that the currently open program in the programming control interface is paused. | High-level signal |
| Program Running | Program Running indicates that the robot is executing the currently open program in the programming control interface. | High-level signal |
 | Error | Error indicates that the robot has triggered a collision alarm. | High-level signal |
 | Powered On | Powered On indicates that the robot is in a powered-on state. | High-level signal |
| Enabled | Enabled indicates that the robot is in an enabled state. | High-level signal |
 | In Motion | In Motion indicates that the robot is moving (e.g., executing a program, manual control, secondary development control, etc.). | High-level signal |
 | Stationary | Stationary indicates that the robot is in a stationary state (e.g., program paused, not running any program, program ended, waiting for a signal, etc.). | High-level signal |
| Powered On | Powered On indicates that the control cabinet is in a powered-on state. | High-level signal |
 | Emergency Stop | Emergency Stop indicates that the robot's movement has stopped, and it is in a powered-off and disabled state. | High-level signal |
| Decelerated Speed Mode Level 1 | Decelerated Speed Mode Level 1 indicates that the robot is in the first level of speed decelerated mode. | High-level signal |
| Decelerated Speed Mode Level 2 | Decelerated Speed Mode Level 2 indicates that the robot is in the second level of speed decelerated mode. | High-level signal |
| Protective Stop | Protective Stop indicates that the robot's movement has stopped. | High-level signal |
 | Initial Position | Initial Position is the user-defined safe orientation set in the Settings - Safety Settings - Robot Orientation interface. When the robot is in this position, this signal is triggered. | High-level signal |
| Drag Mode | Drag Mode indicates that the robot is in drag mode. | High-level signal |
 | Collision | Collision indicates that the robot has collided. | High-level signal |