Specific Input (Handling) - YASKAWA DX100 Instructions Manual

158604-1CD
Standard I/O Signal
Assignment Table (PNP)
Table 2-1: Specific Input (Handling)
Logical Input Name / Function
Number
20010 EXTERNAL START
Functions the same as the [START] button in the programming pendant. Only the
rising edge of the signal is valid. It starts robot operation (playback). This signal is
invalid if external start is prohibited from the playback condition display.
20012 CALL MASTER JOB
Only the rising edge of the signal is valid. It calls up the top of the robot program, that
is the top of the master job
and when play master or call is prohibited (set from the playback operation condition
display).
20013 ALARM/ERROR RESET
After an alarm or error has occurred and the cause been corrected, this signal resets
the alarm or error.
20015 SELECT PLAY MODE
The play mode is selected when the mode key on the programming pendant is set at
"REMOTE". Only the rising edge of the signal is valid. When this selection signal
assigned concurrently with other mode selection signal, the teach mode is selected on
a priority basis. The signal is invalid while EXTERNAL MODE SWITCH is prohibited.
20016 SELECT TEACH MODE
The teach mode is selected when the mode key of the programming pendant is set at
"REMOTE". The other mode selection is unavailable when this signal is ON; the
signal is selected by priority even when the other selection signal is ON, enabling the
teach mode selection.
20020 INTERFERENCE 1 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cube 1
manipulator goes to wait status (with servo power ON). During wait status, the
manipulator operation restarts if this signal turns OFF.
20021 INTERFERENCE 2 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cube 2
manipulator goes to wait status (with servo power ON). During wait status, the
manipulator operation restarts if this signal turns OFF.
20026 TOOL SHOCK SENSOR
This is normally ON (NC) signal input. When it turns OFF, the DX100 displays a
message "HAND TOOL SHOCK SENSOR OPERATING" and a HOLD is applied. The
releasing in teach mode is done on the handling application diagnostic display. Set
tool shock sensor function "NOT USE" on the handling applications diagnostic display
if this signal is not be used.
20027 LOW AIR PRESSURE
This signal is normally OFF (NO). When it turns ON, the DX100 displays user alarm in
the PLAY mode or displays user message in the teach mode.
20050 to SENSOR INPUT 1 - 8
20057 Inputs 1 to 8 are monitored with the HSEN handling specific instructions. Sensor
inputs 1 to 8 correspond to HSEN 1 to 8.
1 A master job is a job (program) which can be called by CALL MASTER JOB. Other functions are the same as for
normal jobs. Normally, the parent job, which manages the child jobs called up immediately after the power is
turned ON, is set as the master job.
2 See section 8.6 "Interference Area" in the "DX100 INSTRUCTIONS."
2 Handling
1)
. This signal is invalid during playback, during teach lock
2-5
2)
area while this signal is ON, the
2)
area while this signal is ON, the
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