I/O Assignment; Table 5-1 Xrc 2001 User Inputs - YASKAWA Motoman ArcWorld IV-6200 XHD DR2C System Manual

OPERATION
With the programming pendant, the operator can develop a series of jobs for the
robots. You can program the robots independently, the station axis independently,
or the robots and station axis together. You must select the axis combination when
teaching the job initially (see Section 5.1.4). Motoman recommends programming
the robots and station axis together to reduce the risk of interference.
NOTE: Refer to your system's Independent/Coordinated Motion Manual (P/N 142969-1) for
information on coordinated motion, selecting synchronization, group axes, and tooling
calibration.
CAUTION!
Remember that only the Tool Center Point (TCP) location on the robot
is recognized by the controller. Without careful programming, the
robot arm could still damage other equipment.
5.1.1

I/O Assignment

The ArcWorld IV-6200 XHD DR2C cell uses the following user and dedicated
inputs and outputs (see Table 5-1 and Table 5-2).
For more information on user and dedicated I/O's, refer to the Concurrent I/O &
Parameter Manual (P/N 147626-1).
XRC 2001 Dedicated Inputs
• Servo On
• External Job Start
• Alarm Reset
• REMOTE mode ON
• Hold
• External Emergency Stop
Input
IN#001thru 008 NOT USED
IN#009 CYCLE START
IN#010 AUTO/MANUAL SELECT
IN#011 LIGHT CURTAIN CLEAR
IN#012 SAFETY RELAY CR4101 FAULTED
IN#013 SAFETY RELAY CR4121 FAULTED
IN#014 AT SIDE B
IN#015 AT SIDE A
IN#016 NOT USED
ArcWorld IV-6200 XHD DR2C System Manual
XRC 2001 Dedicated Outputs
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•
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Table 5-1 XRC 2001 User Inputs

Assignment
5-2
Servo Power ON
TEACH mode
Cube 23
Cube 24
Alarm Occurrence
Description
Cycle start input from operator station.
Auto/manual mode from operator
station.
Signal from light curtain controller to
verify operator is clear.
Indication of safety relay fault. Cycle
controller power to reset.
Indication of safety relay fault. Cycle
controller power to reset.
Robots are at positioner Side B.
Robots are at positioner Side A.
MOTOMAN