Page 1 Motoman XRC 2001 Controller Concurrent I/O and Parameter Manual for UP/SKX-Series Robots Part Number: 142102-1 Release Date: November 28, 2006 Document Status: Final Motoman, Incorporated 805 Liberty Lane West Carrollton, OH 45449 TEL: (937) 847-6200 FAX: (937) 847-6277 24-Hour Service Hotline: (937) 847-3200...
Page 2 COMPLETE OUR ONLINE SURVEY Motoman is committed to total customer satisfaction! Please give us your feedback on the technical manuals you received with your Motoman robotic solution. To participate, go to the following website: http://www.motoman.com/pubs/survey.php The information contained within this document is the proprietary property of Motoman, Inc., and may not be copied, reproduced or transmitted to other parties without the expressed written authorization of Motoman, Inc.
Page 3 General Safeguarding Tips.................... 2-4 Mechanical Safety Devices ................... 2-4 Installation Safety ......................2-5 Programming Safety ..................... 2-5 Operation Safety ......................2-6 Maintenance Safety....................... 2-7 CONCURRENT I/O AND PARAMETERS Concurrent I/O ......................1-1 Parameters........................2-1 MOTOMAN XRC Concurrent I/O and Parameter Manual...
Page 4 NOTES XRC Concurrent I/O and Parameter Manual MOTOMAN...
Page 5 • Motoman UP130, XRC Manipulator Manual (P/N 142107-1) Customer Service Information If you are in need of technical assistance, contact the Motoman service staff at (937) 847-3200. Please have the following information ready before you call: • Robot Type (UP6, SK16X, etc.) •...
Page 6 INTRODUCTION NOTES XRC Concurrent I/O and Parameter Manual MOTOMAN...
Page 7 We recommend that all personnel who intend to operate, program, repair, or use the robot system be trained in an approved Motoman training course and become familiar with the proper operation of the system. This safety section addresses the following: •...
Page 8 NOTE: Information appearing in a NOTE caption provides additional information which is helpful in understanding the item being explained. XRC Concurrent I/O and Parameter Manual MOTOMAN...
Page 9 Safety fences and barriers • Light curtains • Door interlocks • Safety mats • Floor markings • Warning lights Check all safety equipment frequently for proper operation. Repair or replace any non-functioning safety equipment immediately. MOTOMAN XRC Concurrent I/O and Parameter Manual...
Page 10 Do not make any modiﬁcations to PART 1. Making any changes without the written permission of Motoman will VOID YOUR WARRANTY! • Some operations require standard passwords and some require special passwords.
Page 11 SAFETY • Inspect the robot and work envelope to be sure no potentially hazardous conditions exist. Be sure the area is clean and free of water, oil, debris, etc. • Be sure that all safeguards are in place. • Check the E-STOP button on the teach pendant for proper operation before programming.
Page 12 SAFETY Maintenance Safety All operators, programmers, plant and tooling engineers, maintenance personnel, supervisors, and anyone working near the robot must become familiar with the operation of this equipment. All personnel involved with the operation of the equipment must understand potential dangers of operation. Maintenance tips are as follows: •...
Page 13 Parameter Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN SETUP MANUAL MOTOMAN-¨¨¨ INSTRUCTIONS YASNAC XRC INSTRUCTIONS YASNAC XRC OPERATOR’S MANUAL YASNAC XRC OPERATOR’S MANUAL for BEGINNERS The YASNAC XRC operator’s manuals above correspond to specific usage.
Page 14 M A N D A T O R Y • This manual explains the various components of the YASNAC XRC sys- tem and general operations. Read this manual carefully and be sure to understand its contents before handling the YASNAC XRC. •...
Page 15 NOTES FOR SAFE OPERATION Read this manual carefully before installation, operation, maintenance, or inspection of the YASNAC XRC. In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”, “MANDATORY”,or ”PROHIBITED”. Indicates a potentially hazardous situation which, if not avoided, WARNING could result in death or serious injury to personnel.
Page 16 WARNING • Before operating the manipulator, check that servo power is turned off when the emergency stop buttons on the playback panel or program- ming pendant are pressed. When the servo power is turned off, the SERVO ON READY lamp on the playback panel and the SERVO ON LED on the programming pendant are turned off.
Page 17 • Read and understand the Explanation of the Alarm Display in the setup manual before operating the manipulator. Definition of Terms Used Often in This Manual The MOTOMAN manipulator is the YASKAWA industrial robot product. The manipulator usually consists of the controller, the playback panel, the programming pen- dant, and supply cables.
Page 18 Descriptions of the programming pendant and playback panel keys, buttons, and displays are shown as follows: Equipment Manual Designation Programming Character Keys The keys which have characters printed on them are Pendant denoted with [ ] ex. [ENTER] Symbol Keys The keys which have a symbol printed on them are not denoted with [ ] but depicted with a small picture.
Page 19 Concurrent I/O 1.1 Features of Concurrent I/O ....... . .1-1 1.2 Construction and Specifications of the Concurrent I/O .
Page 20 1.5.10 Independent Control Signals (Optional) ..... 1-29 4101, 4102, 4103, 4104, 4105: SUB1, 2, 3, 4, 5 ALM REQ ......1-29 4091, 4092, 4093, 4094, 4095: SUB1, 2, 3, 4, 5 MASTER CALL .
Page 21 1.6.7 Setting of Mode / Cycle and Particular Play Operation ...1-45 5050 to 5052: CYCLE SETTING ......1-45 5053 to 5054: MODE SETTING .
Page 22 5276, 5316, 5356: RETRACT ......1-52 5277,5317,5357: RETRY RETURN PROCESSING ..1-52 5280, 5320, 5360: RESTART PROCESSING (ARC SHORTAGE) .
Page 23 8027: * PLAYBACK PANEL EMERGENCY STOP...1-67 8031: SERVO ON CONDITION 1......1-67 8032: FORCED RELEASE INPUT .
Page 24 1.13 Standard Ladder Program ....... 1-79 1.13.1 List of Usable Instructions ....... 1-79 1.13.2 Instruction Description .
Page 25 1.13.6 Spot Welding .........1-144 Ladder Program List .
Page 26 S1CxG045 to S1CxG048: JOG OPERATION LINK SPEED ..2-5 S1CxG049 to S1CxG051: YAG LASER SMALL CIRCLE CUTTING ....... . . 2-5 S1CxG052 to S1CxG053: YAG LASER SMALL CIRCLE CUTTING DIRECTION LIMIT VALUE .
Page 27 S2C096: JOB LIST DISPLAY METHOD AT JOB SELECTION........2-17 S2C097: INITIAL OPERATION OF MANIPULATOR .
Page 28 S2C166: CONTROLLED GROUP JOB TEACHING POSITION CHANGE....... 2-27 S2C167: COOLING FAN ALARM DETECTION ... . 2-27 S2C168, S2C169: COOLING FAN ALARM 1 OPERATION.
Page 29 S4C049: OPERATION OF JOB WITHOUT CONTROL GROUP SPECIFICATION....2-35 S4C050: EXECUTION OF “BWD” OPERATION ... .2-35 S4C052: PERMISSION TO CHANGE NON-MOVE INSTRUCTION TO MOVE INSTRUCTION .
Page 30 AxP011, AxP012: MANUAL WIRE OPERATION SPEED ..2-41 AxP013, AxP014: WELDING CONTROL TIME ... . . 2-41 AxP015 to AxP017: NUMBER OF WELDING CONTROL ..2-41 AxP026 to AxP029: TOOL ON/OFF GENERAL OUTPUT NO.
Page 31 1.1 Features of Concurrent I/O 1 Concurrent I/O Concurrent I/O control is an I/O control function that processes controls relative to the XRC I/O independent of the manipulator operation (in parallel with manipulator operation). Features of Concurrent I/O Terminals and connectors to which I/O signals are connected can be used effectively. Terminals and connectors are provided for connecting I/O signals.
Page 32 1.2 Construction and Specifications of the Concurrent I/O A standard ladder selected for your applications is prepared at the factory. For System Ladder more information, see “1.13 Standard Ladder Program” The ladder program Section cannot be edited. Speciﬁcation of signal connections and interface signal with system ladder are User Ladder Section prepared at the factory.
Page 33 1.3 Classification of I/O Signals Concurrent I/O Speciﬁcations Item Contents Error Detection of CPU, system program and ladder programs. Ladder programming error detection as follows: Double Use of Output Relay Diagnostic No END Instruction Functions Circuit Error Format Error Exceeded Program Capacity Monitor each signal status in concurrent I/O on CRT display.
Page 34 1.3 Classification of I/O Signals Input Signal 1.3.1 Meaning of Number The I/O processing part and the manipulator operation processing part are connected by "Logical I/O". However, for the function, they are separated as a quite independent function. How to handle each signal is also different from the manipulator operation processing part. In ladder programming, to specify each signal unitedly, the number is set to as follows.
Page 35 1.3 Classification of I/O Signals Speciﬁed Channel Number Eight signals are deﬁned as one channel. [01] Last eight signals [nn] Last eight signals Refer to the undermentioned table for concrete channel number. Relay Number in Speciﬁed Channel One of eight signals is speciﬁed by numerical value (0-7). As for each block, a minimum digit is speciﬁed by the numerical value to 0-7 for a relay num- ber as understood from the table.
Page 36 1.3 Classification of I/O Signals 1.3.2 Register The register is data of each every word (16 bits). General register (M000 - M099) and analog output register (M150 - M161) are readable and writable. System register is readable only, and the data is set by the system. The register is treated by the unit of one word (16 bits).
Page 37 1.3 Classification of I/O Signals 8-bit resolution: Bit 8 to Bit 15 are valid data. 12-bit resolution: Bit 4 to Bit 15 are valid data. 16-bit resolution: Bit 0 to Bit 15 are valid data. Resolution 8-bit 12-bit 16-bit Regardless of the resolution, the register value per 1 V is: 1 (V) = 32767 (7fffH)/14(V) 2340(924H) Analog output board (JANCD-XEW01- ¨...
Page 38 1.3 Classification of I/O Signals Numeric Data Binary number is the one that the numeric data was expressed by 1(ON) and 0(OFF). Internal data of a usual computer is expressed by the binary number. On the other hand, BCD (Binary Code Decimal) makes one digit of the decimal number by using four bits of the binary number, that is, four digits, combines these, and shows the decimal number.
Page 39 1.4 Configuration of I/O Signals Conﬁguration of I/O Signals Arc Welding 1.4.1 How to Monitor Signal Status To monitor a signal, verify the signal status of the signal logic number in the C. I/O monitor dis- play.
Page 40 1.4 Configuration of I/O Signals 1.4.2 Handling, Spot Welding, General-Purpose Applications How to Monitor Signal Status To monitor a signal, verify the signal status of the signal logic number in the C. I/O monitor dis- play. 1-10...
Page 41 1.5 Specific Input Signals (4xxx) Speciﬁc Input Signals (4xxx) Common for All Applications 1.5.1 4017 4016 4015 4014 4013 4012 4011 4010 Safety Alarm User Msg User Alm System System Speed Reset Msg Req Alm Req 4027 4026 4025 4024 4023 4022 4021...
Page 42 1.5 Specific Input Signals (4xxx) 4107 4106 4105 4104 4103 4102 4101 4100 Sub Task Sub Task Sub Task Sub Task Sub Task 5Alarm 4Alarm 3Alarm 2Alarm 1Alarm Request Request Request Request Request 4107 4106 4115 4114 4113 4112 4111 4110 4127 4126...
Page 43 1.5 Specific Input Signals (4xxx) 1.5.2 Arc Welding Device 1 4177 4176 4175 4174 4173 4172 4171 4170 Anti-Stick Retry Ret Retry Nozzle Time Work End Work Cleaned Changed Measure Start Ans 4187 4186 4185 4184 4183 4182 4181 4180 Clr Ant- Clr Retry Restart...
Page 44 1.5 Specific Input Signals (4xxx) Device 3 4257 4256 4255 4254 4253 4252 4251 4250 Anti-Stick Retry Retry Nozzle Time Work End Work Ret Req Cleaned Changed Measure Start Ans 4267 4266 4265 4264 4263 4262 4261 4260 Clr Ant- Clr Retry Restart Restart/...
Page 45 1.5 Specific Input Signals (4xxx) 1.5.3 Handling Device 1 4177 4176 4175 4174 4173 4172 4171 4170 Time Work End Work Measure Start Ans 4187 4186 4185 4184 4183 4182 4181 4180 Sensor Sensor Sensor Sensor Sensor Sensor Sensor Sensor Input 8 Input 7 Input 6...
Page 46 1.5 Specific Input Signals (4xxx) Device 3 4257 4256 4255 4254 4253 4252 4251 4250 Time Work End Work Measure Start Ans 4267 4266 4265 4264 4263 4262 4261 4260 Sensor Sensor Sensor Sensor Sensor Sensor Sensor Sensor Input 8 Input 7 Input 6 Input 5...
Page 47 1.5 Specific Input Signals (4xxx) Spot Welding 1.5.4 Device 1 4177 4176 4175 4174 4173 4172 4171 4170 Welding Time Stop Measure 4187 4186 4185 4184 4183 4182 4181 4180 4197 4196 4195 4194 4193 4192 4191 4190 4207 4206 4205 4204 4203...
Page 48 1.5 Specific Input Signals (4xxx) Device 3 4257 4256 4255 4254 4253 4252 4251 4250 Welding Time Stop Measure 4267 4266 4265 4264 4263 4262 4261 4260 4277 4276 4275 4274 4273 4272 4271 4270 4287 4286 4285 4284 4283 4282 4281 4280...
Page 49 1.5 Specific Input Signals (4xxx) 1.5.5 General-Purpose Applications Device1 4177 4176 4175 4174 4173 4172 4171 4170 Time Work End Work Measure Start Ans 4187 4186 4185 4184 4183 4182 4181 4180 4197 4196 4195 4194 4193 4192 4191 4190 4207 4206 4205...
Page 50 1.5 Specific Input Signals (4xxx) Device3 4257 4256 4255 4254 4253 4252 4251 4250 Time Work End Work Measure Start Ans 4267 4266 4265 4264 4263 4262 4261 4260 4277 4276 4275 4274 4273 4272 4271 4270 4287 4286 4285 4284 4283 4282...
Page 51 1.5 Specific Input Signals (4xxx) 4010: System Alarm Request When this signal is ON, a system alarm occurs and the manipulator stops.At the same State time, an alarm message corresponding to the alarm code of the speciﬁc inputs (4020 to 4024)appears on the programming pendant display. 4020 to 4024: System alarm No.(binary) UP to 24 system alarm can be speciﬁed.Assign messages by coding decimals from 0 to 23 into binaries.The number speciﬁed upper than 24 is same as 23 speciﬁed.
Page 52 1.5 Specific Input Signals (4xxx) 4030 to 4034: System Message No. (Binary) Up to 24 system messages can be speciﬁed. Assign message by coding decimals from 0 to 23 into binaries. When any number higher than 24 is designated, it is treated the same as if 23 was speciﬁed.
Page 53 1.5 Specific Input Signals (4xxx) <Example> Selecting Mode/Cycle and Calling Master Job 1.5.7 4040 to 4041: Selection of Mode These signals have the same function as the mode select key on the playback panel. Rising Use the signals when desiring to change mode speciﬁcations from the outside. If two or more modes are speciﬁed at the same time, the teach mode will have priority.
Page 54 1.5 Specific Input Signals (4xxx) • External Start (4044) When this signal is off or “COMMAND REMOTE SETTING” (5055) signal is on, the “REMOTE” lamp on the playback panel will blink. Operation Mode Processing Standard Ladders • For remote function selection, refer to the “1.15.3 Pseudo Input Signal Display”. •...
Page 55 1.5 Specific Input Signals (4xxx) 1.5.8 External Servo On 4045: External Servo On This signal turns on the servo power. Use the signal when turning on the servo power Rising from the outside. To use this signal, connect the external servo on signal (EXSVON) on the I/O power on unit (JZNC-XIU01) to +24V (CN05 9-10).
Page 56 1.5 Specific Input Signals (4xxx) 1.5.9 Operating Instructions 4016: In-Guard Safe Operating Instruction When this signal is on, the playback panel operating speed is limited by in-guard safe State operation speed. If approaching the manipulator during operation’s unavoidable, the operating speed can be limited by turning the signal on. It will therefore be convenient to interlink the signal with the safety guardrail or safety mat.
Page 57 1.5 Specific Input Signals (4xxx) For system with one manipulator, use signal No. 4061. <Example 1> The following is an example of using the signal to check S-Axis/ Cube Interference. Explanation of ladder Meaning of above terms A, B, C: Area Name e.g.
Page 58 1.5 Specific Input Signals (4xxx) <Example 2> The following is an example of using the signal to detect wire sticking in arc welding. Explanation of ladder Monitor the state of welding when an ARC OFF instruction is issued, or if the arc is interrupted while the instruction is being issued.
Page 59 1.5 Specific Input Signals (4xxx) Do not use these signals unless interlocking to check that the manipulator is at a posi- tion from which it can return to the home position. For a system with one manipulator, use signal No. 4064. Independent Control Signals (Optional) 1.5.10 4101, 4102, 4103, 4104, 4105: SUB1, 2, 3, 4, 5 ALM REQ...
Page 60 1.5 Specific Input Signals (4xxx) 4175, 4215, 4255: RETRY REQUEST State 4176, 4216, 4256: RETRY RETURN REQUEST The “WORK START RESPONSE” signal is used for response to the “WORK START State INSTRUCTION” (5270, 5310, or 5350) signal. When the “RETRY REQUEST” signal is used simultaneously, retry operation is performed;...
Page 61 1.5 Specific Input Signals (4xxx) 4181, 4221, 4261: RESTART REQUEST (GAS SHORTAGE) State 4182, 4222, 4262: RESTART REQUEST (WIRE SHORTAGE) When these signals are on, restart operations are requested. The restart operation State differs for each restart mode. For a system with one application, use signal No. 4180, 4181, or 4182. Multiple requests cannot be made.
Page 62 1.5 Specific Input Signals (4xxx) 1.5.12 Handling Signals from 4170 to 4287 are classiﬁed into three blocks and assigned to input signals that have each different meanings depending on the application. As most of these input signals are used for the system, they cannot be used from outside of the XRC. This section explains exceptional signals that are available for external use.
Page 63 1.5 Specific Input Signals (4xxx) 4177, 4217, 4257: WELDING STOP This signal stops execution of the welding instruction. State While this signal is ON, the robot playback disregards the spot welding instruction. Use this signal when the robot should return to the working home position, etc. For a system with one application, use signal No.
Page 64 1.6 Specific Output Signals (5xxx) Speciﬁc Output Signals (5xxx) Common For All Applications 1.6.1 5017 5016 5015 5014 5013 5012 5011 5010 COOLING ENCDR USER SYSTEM MINOR MAJOR ERROR BTRY BTRY OCCUR ERROR WEAK WEAK OCCUR OCCUR OCCUR OCCUR 5027 5026 5025 5024...
Page 65 1.6 Specific Output Signals (5xxx) 5097 5096 5095 5094 5093 5092 5091 5090 WORK WORK LOCUS SERVO RESTART SEARCH- CONT WAIT JOB PERMIT DEVIATE FLOAT ON PROHIBIT ING R2J JOB R2J SEQ R2J RUN R2J 5107 5106 5105 5104 5103 5102 5101 5100...
Page 66 1.6 Specific Output Signals (5xxx) 5187 5186 5185 5184 5183 5182 5181 5180 SV ON STATUS 5197 5196 5195 5194 5193 5192 5191 5190 5207 5206 5205 5204 5203 5202 5201 5200 5217 5216 5215 5214 5213 5212 5211 5210 5227 5226 5225...
Page 67 1.6 Specific Output Signals (5xxx) 1.6.2 ARC WELDING Device1 5277 5276 5275 5274 5273 5272 5271 5270 INHB RETURN CLEAN CHANGE START RETRACT INCHING WORK RETRY NOZZLE WORK WORK CONT 5287 5286 5285 5284 5283 5282 5281 5280 RETRY OVER OVER OVER RETURN...
Page 68 1.6 Specific Output Signals (5xxx) Device 3 5357 5356 5355 5354 5353 5352 5351 5350 INHB RETURN CLEAN CHANGE START RETRACT INCHING WORK RETRY NOZZLE WORK WORK CONT 5367 5366 5365 5364 5363 5362 5361 5360 RETRY OVER OVER OVER RETURN RESTARTI RESTARTI...
Page 69 1.6 Specific Output Signals (5xxx) 1.6.3 Handling Device 1 5277 5276 5275 5274 5273 5272 5271 5270 SH-SNSR INHB SH-SNSR START FUNC WORK VALID WORK WORK SELECT CONT 5287 5286 5285 5284 5283 5282 5281 5280 TOOL TOOL TOOL TOOL TOOL TOOL TOOL...
Page 70 1.6 Specific Output Signals (5xxx) Device 3 5357 5356 5355 5354 5353 5352 5351 5350 INHB SH-SNSR START WORK VALID WORK WORK CONT 5367 5366 5365 5364 5363 5362 5361 5360 TOOL TOOL TOOL TOOL TOOL TOOL TOOL TOOL VALVE 4-2 VALVE 4-1 VALVE 3-2 VALVE 3-1...
Page 71 1.6 Specific Output Signals (5xxx) Spot Welding 1.6.4 Device 1 5277 5276 5275 5274 5273 5272 5271 5270 WEAR Welding WORK CHANGE DETECT ON/OFF SVSPOT TIP ALM ERROR 5287 5286 5285 5284 5283 5282 5281 5280 5297 5296 5295 5294 5293 5292 5291...
Page 72 1.6 Specific Output Signals (5xxx) Device 3 5357 5356 5355 5354 5353 5352 5351 5350 WEAT Welding WORK CHANGE DETECT ON/OFF SVSPOT TIP ALM ERROR 5367 5366 5365 5364 5363 5362 5361 5360 5377 5376 5375 5374 5373 5372 5371 5370 5387 5386...
Page 73 1.6 Specific Output Signals (5xxx) 1.6.5 General-Purpose Applications Device 1 5277 5276 5275 5274 5273 5272 5271 5270 INHB START WORK WORK WORK CONT 5287 5286 5285 5284 5283 5282 5281 5280 5297 5296 5295 5294 5293 5292 5291 5290 5307 5306 5305...
Page 74 1.6 Specific Output Signals (5xxx) Device 3 5317 5316 5315 5314 5313 5312 5311 5310 INHB START WORK WORK WORK CONT 5327 5326 5325 5324 5323 5322 5321 5320 5337 5336 5335 5334 5333 5332 5331 5330 5347 5346 5345 5344 5343 5342...
Page 75 1.6 Specific Output Signals (5xxx) 5015, 5016: BATTERY WEAK These signals are on when voltage drops in the memory protection battery and the State absolute encoder memory retention battery, to indicate that batteries need replace- ment. Loss of data in memory due to a weak battery causes much damage. Take the signals as a kind of alarm and take appropriate action.
Page 76 1.6 Specific Output Signals (5xxx) 5062: MACHINE LOCK SETTING This signal indicates that the machine lock is set. State 5063: SOFT LIMIT RELEASE SETTING This signal indicates that the soft limit is released. Switching to play mode automati- State cally releases the soft limit and turns off this signal. 5064: CHECK OPERATION SETTING This signal indicates the check operation is set.
Page 77 1.6 Specific Output Signals (5xxx) 5075: JOB EDITING OPERATION INDICATION This signal indicates that the job to be executed has just been edited, searched, or State manipulated with the cursor on. This can be used for determining starting conditions after editing. 5076: JOG OPERATION INDICATION This signal indicates that the manipulator was made to move an axis or FWD/BWD State...
Page 78 1.6 Specific Output Signals (5xxx) These signals go off in the following cases. • When the is moved by operation change such as of the line No. from the program- ming pendant when the manipulator is stopped. • When a job is called up. •...
Page 79 1.6 Specific Output Signals (5xxx) For a system with one manipulator, use signal No. 5086. Interference Signals 1.6.9 5110 to 5137: IN-CUBE These signals indicate the area in which the current control point is positioned in the State initially set area. Set the area by parameters (S2C003 to S2C074, S3C024 to S2C407).
Page 80 1.6 Specific Output Signals (5xxx) 1.6.11 Signals During Operation and for Jog Offset Junction (Optional) 5021, 5022, 5023, 5024, 5025: TOP SUB1, 1, 2, 3, 4, 5 MASTER These signals indicate that the execution position is at the head of the master job in State sub task 1, 2, 3, 4, 5.
Page 81 1.6 Specific Output Signals (5xxx) 1.6.13 Arc Welding Signals from 5270 to 5387 are classiﬁed into three blocks and assigned to output signals that have different meanings depending on the application. Most of these outputs are used by the system so they cannot be used from the outside of the XRC. This section explains excep- tional signals that are available for external use.
Page 82 1.6 Specific Output Signals (5xxx) For normal inching, use signal No. 1246, 1236, 1226. 5276, 5316, 5356: RETRACT These signals go on when using retract of the work instructions. State For a system with one application, use signal No. 5276. For normal inching, use signal No.
Page 83 1.6 Specific Output Signals (5xxx) 5284, 5324, 5364: RETRY SETTING TIME EXCEEDED These signals indicate that the accumulated number of restart times has been State reached or exceeded the set value. For a system with one application, use signal No. 5284. 5285, 5325, 5365: ARC SHORTAGE RESTART SETTING TIMES EXCEEDED These signals indicate that the accumulated number of arc shortage restart times has...
Page 84 1.6 Specific Output Signals (5xxx) 5277, 5317, 5357: SHOCK SENSOR INPUT These signals output the status signal to show whether the shock sensor input func- State tion is valid in the teach mode for the handling application. When concurrent I/O is the standard handling ladder, an alarm occurs by shock sensor input when these signals are on;...
Page 85 1.6 Specific Output Signals (5xxx) 5277, 5317, 5357: WELDING ON/OFF This signal monitors the welding on/off from the programing pendant. State Use this signal when the manual spot welding in the teach mode. For a system with one application, use signal No. 5277. General-Purpose Applications 1.6.16 Signals from 5270 to 5387 are classiﬁed into three blocks and assigned to output signals that...
Page 86 1.7 Internal Signal Used in Standard Ladder (7xxx) Internal Signal Used in Standard Ladder (7xxx) Arc Welding 1.7.1 7017 7016 7015 7014 7013 7012 7011 7010 CONTROL START POWER ON REMOTE SYSTEM SYSTEM REMOTE REMOTE RECEIVING COMPLETED KEY SIGNAL EXT. START KEY PULSE PREPA- (NORMALITY...
Page 87 1.7 Internal Signal Used in Standard Ladder (7xxx) 7107 7106 7105 7104 7103 7102 7101 7100 WIRE SHORTAGE SHORTAGE SHORTAGE RESTART RESTART- RESTART SHORTAGE SHORTAGE INVALID MEMORY RESTART RESTART CONDITION CONDITION CONDITION MEM RESET 7117 7116 7115 7114 7113 7112 7111 7110 WIRE...
Page 88 1.7 Internal Signal Used in Standard Ladder (7xxx) 1.7.2 Handling 7017 7016 7015 7014 7013 7012 7011 7010 CONTROL START POWER ON REMOTE SYSTEM SYSTEM REMOTE REMOTE RECEIVING COMPLETED KEY SIGNAL KEY PULSE PREPA- (NORMALLY- DIR CHANGE RATION OK 7027 7026 7025 7024...
Page 89 1.7 Internal Signal Used in Standard Ladder (7xxx) 1.7.3 Spot Welding 7017 7016 7015 7014 7013 7012 7011 7010 CONTROL START OPWER ON REMOTE SYSTEM SYSTEM REMOTE REMOTE RECEIVING COMPLETED KEY SIGNAL EXT. START KEY PULSE PREPA- (NORMALLY DIR CHANGE RATION OK 7027 7026...
Page 90 1.7 Internal Signal Used in Standard Ladder (7xxx) 7887 7886 7885 7884 7883 7882 7881 7880 General-Purpose Applications 1.7.4 7017 7016 7015 7014 7013 7012 7011 7010 CONTROL START POWER ON REMOTE SYSTEM SYSTEM REMOTE REMOTE RECEIVING COMPLETED KEY SIGNAL EXT.
Page 91 1.8 Internal Control Status Signals (80xx) Internal Control Status Signals (80xx) Internal Control Status Signals 1.8.1 *: NC contact 8017 8016 8015 8014 8013 8012 8011 8010 SVON START HOLD TEACH PLAY REMOTE EDIT_LOCK EDIT_LOCK Editing Prohibit REMOTE Remote Mode Select PLAY Play Mode Select TEACH...
Page 92 1.8 Internal Control Status Signals (80xx) 8037 8036 8035 8034 8033 8032 8031 8030 System EXSVON EXHOLD DSWIN SAFRDY FORCE SYSRDY reserve SYSRDY Servo ON Condition 1 FORCE Forced Release Input SAFRDY Servo ON Condition 2 DSWIN Deadman Switch Input *EXHOLD External Hold EXSVON...
Page 93 1.8 Internal Control Status Signals (80xx) 8067 8066 8065 8064 8063 8062 8061 8060 TUALM:2#2 BRX:2#2 SVMX:2#2 TUALM:1#2 BRX:1#2 SVMX:1#2 SERVOPACK #2 ž Power ON unit 1 SVMX:1#2 Conﬁrmation of Power ON of Servo Power Supply Group BRX:1#2 Conﬁrmation of Brake Release *TUALM:1#2 Power ON Unit Signal Alarm (Emergency Stop) ž...
Page 94 1.8 Internal Control Status Signals (80xx) 8087 8086 8085 8084 8083 8082 8081 8080 TUALM:2#4 BRX:2#4 SVMX:2#4 TUALM:1#4 BRX:1#4 SVMX:1#4 SERVOPACK #4 ž Power ON unit 1 SVMX:1#4 Conﬁrmation of Power ON of Servo Power Supply Group BRX:1#4 Conﬁrmation of Brake Release *TUALM:1#4 Power ON Unit Signal Alarm (Emergency Stop) ž...
Page 95 1.8 Internal Control Status Signals (80xx) 8107 8106 8105 8104 8103 8102 8101 8100 TUALM:2#6 BRX:2#6 SVMX:2#6 TUALM:1#6 BRX:1#6 SVMX:1#6 SERVOPACK #6 ž Power ON unit SVMX:1#6 Conﬁrmation of Power ON of Servo Power Supply Group BRX:1#6 Conﬁrmation of Brake Release *TUALM:1#6 Power ON Unit Signal Alarm (Emergency Stop) ž...
Page 96 1.8 Internal Control Status Signals (80xx) 8127 8126 8125 8124 8123 8122 8121 8120 EXOT SHOCK1 ERRSVCPU FUCUT ON-EN SHOCK2 *SHOCK2 Shock Sensor Operation Hold *ON-EN Servo ON Enabled *FUCUT Brake Fuse Blowout *ERRSVCPU Servo CPU Error *SHOCK1 Shock Sensor Operation Emergency Stop *EXOT External Axis Overtravel Overtravel...
Page 97 1.8 Internal Control Status Signals (80xx) 8017: SERVO POWER ON This signal indicates the operating status of the “SERVO POWER” key on the play- Rising back panel. 8020: 24VOK This signal goes ON when 24V power for I/O is supplied normally. State For details of connecting I/O power, refer to “7 Description of Units and Circuit Boards”.
Page 98 1.8 Internal Control Status Signals (80xx) 8032: FORCED RELEASE INPUT This signal indicates the operation status of the external forced release input signal. State This signal is input from the XIO01 board. For the connection, refer to “1.11 I/O Except Concurrent I/O.” 8033: SERVO ON CONDITION 2 This signal turns ON when the following signals satisfy the conditions for servo ON State...
Page 99 1.8 Internal Control Status Signals (80xx) 8040: SAFE SPEED 2 This signal turns on in the safe speed 2 condition. State This signal is available only for the XRC for European standard speciﬁcations. 8041: SAFE SPEED 1 This signal turns on in the safe speed 1 condition. State This signal is available only for the XRC for European standard speciﬁcations 8051, 8055, 8061, 8065, 8071, 8075, 8081, 8085, 8091, 8095,...
Page 100 1.8 Internal Control Status Signals (80xx) 8121: *SERVO ON ENABLED This signal indicate the detected status of servo ON enabled. State This signal is input from the XIO01 board. 8123: *BRAKE FUSE BLOWOUT This signal turns off when the fuse of brake magnetizing circuit is blown out. State 8124: *SERVO CPU ERROR This signal turns off when an error is detected in the servo system (WRCA01 CPU).
Page 101 1.9 Pseudo Input Signals (82xx) Pseudo Input Signals (82xx) The following symbols are used in the explanation to represent the signal conditions. The signal takes effect while it is in the The rising edge is detected as the sig- State Rising on state.
Page 102 1.11 I/O Except Concurrent I/O 1.11 I/O Except Concurrent I/O The following signal is connected directly to the manipulator control section without passing through the concurrent I/O. Adequate care should be taken for switch setting and method of connection when using this signal.
Page 103 1.11 I/O Except Concurrent I/O • Use the “FORCE” (Forced release) input with normally open circuit. • Use the switch which has the key for “FORCE” input. The manager of the system is responsible for storage of the key. • When “FORCE” is input, any deadman switch is invalidated. EXESP: FOR EXTERNAL EMERGENCY STOP This signal allows use of the emergency stop switch from an external source.
Page 104 1.12 Register 1.12 Register Common Usage 1.12.1 M009 M008 M007 M006 M005 M004 M003 M002 M001 M000 M019 M018 M017 M016 M015 M014 M013 M012 M011 M010 M029 M028 M027 M026 M025 M024 M023 M022 M021 M020 M039 M038 M037 M036 M035 M034...
Page 105 1.12 Register 1.12.2 Arc Welding M079 M078 M077 M076 M075 M074 M073 M072 M071 M070 M089 M088 M087 M086 M085 M084 M083 M082 M081 M080 M099 M098 M097 M096 M095 M094 M093 M092 M091 M090 WIRE STICK- ANTI- STICK- OPERA- STICK- ARC ANS RESTART...
Page 106 1.12 Register 1.12.3 Handling M079 M078 M077 M076 M075 M074 M073 M072 M071 M070 M089 M088 M087 M086 M085 M084 M083 M082 M081 M080 M099 M098 M097 M096 M095 M094 M093 M092 M091 M090 M109 M108 M107 M106 M105 M104 M103 M102 M101...
Page 107 1.12 Register Spot Welding 1.12.4 M079 M078 M077 M076 M075 M074 M073 M072 M071 M070 M089 M088 M087 M086 M085 M084 M083 M082 M081 M080 M099 M098 M097 M096 M095 M094 M093 M092 M091 M090 PRES- TIMER SURE COOL COOL LOW- ERROR ERROR...
Page 108 1.12 Register 1.12.5 General-Purpose Applications M079 M078 M077 M076 M075 M074 M073 M072 M071 M070 M089 M088 M087 M086 M085 M084 M083 M082 M081 M080 M099 M098 M097 M096 M095 M094 M093 M092 M091 M090 M109 M108 M107 M106 M105 M104 M103 M102...
Page 109 1.13 Standard Ladder Program 1.13 Standard Ladder Program List of Usable Instructions 1.13.1 The following table shows a list of usable instructions in concurrent I/O. In the instruction, there are an instruction which uses the memory of one step and an instruction which uses the memory of two steps.
Page 110 1.13 Standard Ladder Program List of Usable Instructions in Concurrent I/O Instruction Symbol Function Format Remarks ON-delay time (100ms) TMR D,S 2 Steps Set Value (S) Instruction • Decimal (0-65535) • Register (M000-M161) Curr value (D) • Register (M000-M099) Subtract counter CNT D,S 2 Steps Set value (S)
Page 111 1.13 Standard Ladder Program List of Usable Instructions in Concurrent I/O Instruction Symbol Function Format Remarks Divide 16 bits unsigned DIV S1,S2,D 2 Steps binary data (0-65535) Instruction S1, S2: Source Exe Condition • Decimal (0-65535) • Register (M000-M161) D: Destination •...
Page 112 1.13 Standard Ladder Program List of Usable Instructions in Concurrent I/O Instruction Symbol Function Format Remarks WAND Logical AND of 8/16 bits WAND 2 Steps data Instruction S1,S2,D S1, S2: Source Exe Condition • Decimal (0-65535) • Register (M000-M161) • Relay No. (byte) #XXX0 •...
Page 113 1.13 Standard Ladder Program List of Usable Instructions in Concurrent I/O Instruction Symbol Function Format Remarks Right shift of 8/16 bits data SHR S,n,D 2 Steps S: Source Instruction • Decimal (0-65535) Exe Condition • Register (M000-M161) • Relay No. (byte) #XXX0 •...
Page 114 1.13 Standard Ladder Program 1.13.2 Instruction Description Two or more time output to the same relay cannot be used. The numbers available for output relays are only 0XXX, 3XXX, 4XXX, and 7XXX. Up to 100 TMR/CNT instructions and operation instructions can be registered to use regis- ters.
Page 115 1.13 Standard Ladder Program AND Instruction Format AND #XXXX #XXXX: Relay No. Function Performs logical AND operation. Ladder Program Example <Ladder Diagram> < Program> #7010 #7011 #7100 AND-NOT Instruction Format AND-NOT #XXXX #XXXX: Relay No. Function Performs logical AND negation operation. Ladder Program Example <Ladder Diagram>...
Page 116 1.13 Standard Ladder Program OR Instruction Format OR #XXXX #XXXX: Relay No. Function Performs logical OR operation. Ladder Program Example <Ladder Diagram> < Program> #7010 #7011 #7100 OR-NOT Instruction Format OR-NOT #XXXX #XXXX: Relay No. Function Performs logical OR negation operation. Ladder Program Example <Ladder Diagram>...
Page 117 1.13 Standard Ladder Program AND-STR Instruction Format AND-STR Function Performs logical AND operation with the preliminary results. Ladder Program Example <Ladder Diagram> < Program> #7010 #7011 #7020 #7021 AND-STR #7100 OR-STR Instruction Format OR-STR Function Performs logical OR operation with the preliminary results. Ladder Program Example <Ladder Diagram>...
Page 118 1.13 Standard Ladder Program OUT Instruction Format OUT #XXXX #XXXX: Relay No. Function Outputs to the internal or the external. Ladder Program Example <Ladder Diagram> < Program> #7010 #7011 #7100 Two or more time output to the same relay cannot be used. PART Instruction Format PART N...
Page 119 1.13 Standard Ladder Program END Instruction Format Function Ends the ladder program. Ladder Program Example <Ladder Diagram> < Program> #7010 There is no symbol. #7100 This instruction is not displayed in the programing pendant screen. TMR Instruction Format TMR Curr Value, Set Value Set Value: Register (M000-M161), Decimal (0-65535) Curr Value: Register (M000-M099) Set Value...
Page 120 1.13 Standard Ladder Program The timer is reset when the XRC control power is turned on. Therefore, Curr Value is Set Value by reset function even if the XRC control power is turned on when start input of the timer is at ON state. Two or more time output to the same relay cannot be used.
Page 121 1.13 Standard Ladder Program turned to on while reset input is turning off. Curr Value is decremented each time counter input is turning from off to on while reset input is at OFF state. The TMR contact is turning on when Curr Value equals to 0. This state is main- tained while reset input is at OFF state.
Page 122 1.13 Standard Ladder Program GSTR Instruction / GOUT Instruction Format GSTR #XXX0 GOUT #XXX0 #XXX0: Relay No. (byte) Function The GSTR instruction stores the relay number(8 bits). The GOUT instruction outputs 8 bits data stored by the GSTR instruction to the relay num- ber(8 bits).
Page 123 1.13 Standard Ladder Program PLS Instruction Format PLS #XXXX #XXXX: Relay No. Function Outputs one scanning pulse signal when speciﬁed signal is turned from off to on. The output cannot be done to the same relay two or more times. Ladder Program Example <Ladder Diagram>...
Page 124 1.13 Standard Ladder Program PLF Instruction Format PLF #XXXX #XXXX: Relay No. Function Outputs one scanning pulse signal when speciﬁed signal is turned from on to off. Ladder Program Example <Ladder Diagram> < Program> STR #7010 PLF #7100 1-94...
Page 125 1.13 Standard Ladder Program ADD Instruction Format ADD S1, S2, D S1: Source 1 Register (M000-M161) Decimal (0-65535) S1: Source 2 Register (M000-M161) Decimal (0-65535) D: Destination Register (M000-M099, M150-M161) Function S1 and S2 (16 bits unsigned binary data) are added and the addition result is output to D when input signal is at ON state.
Page 126 1.13 Standard Ladder Program SUB Instruction Format SUB S1, S2, D S1: Source 1 Register (M000-M161) Decimal (0-65535) S1: Source 2 Register (M000-M161) Decimal (0-65535) D: Destination Register (M000-M099, M150-M161) Function S1 and S2 (16 bits unsigned binary data) are subtracted and the subtraction result is output to D when input signal is at ON state.
Page 127 1.13 Standard Ladder Program MUL Instruction Format MUL S1, S2, D S1: Source 1 Register (M000-M161) Decimal (0-65535) S1: Source 2 Register (M000-M161) Decimal (0-65535) (High), D : Destination Register (M000-M099, M150-M161) n(Low) Function S1 and S2 (16 bits unsigned binary data) are multiplied and the multiplication result is output to D when the input signal is at ON state.
Page 128 1.13 Standard Ladder Program DIV Instruction Format DIV S1, S2, D S1: Source 1 Register (M000-M161) Decimal (0-65535) S1: Source 2 Register (M000-M161) Decimal (0-65535) D: Destination (Quotient) Register (M000-M099, M150-M161) Function S1 and S2 (16 bits unsigned binary data) are divided and the division result is output (Quotient) to D when input signal is at ON state.
Page 129 1.13 Standard Ladder Program MOD Instruction Format MOD S1, S2, D S1: Source 1 Register (M000-M161) Decimal (0-65535) S1: Source 2 Register (M000-M161) Decimal (0-65535) D: Destination (Surplus) Register (M000-M099, M150-M161) Function S1 and S2 (16 bits unsigned binary data) are divided and the division result is output (Modulus) to D when input signal is at ON state.
Page 130 1.13 Standard Ladder Program BIN Instruction Format BIN S, D S: Source Register (M000-M161) Relay (byte) #XXX0 Relay (word) W#XXX0 D: Destination Register (M000-M099, M150-M161) Relay (byte) #XXX0 Relay (word) W#XXX0 Function S(BCD data) is converted to binary data and it is output to D when the input signal is at ON state.
Page 131 1.13 Standard Ladder Program BCD Instruction Format BCD S, D S: Source Register (M000-M161) Relay (byte) #XXX0 Relay (word) W#XXX0 D: Destination Register (M000-M099, M150-M161) Relay (byte) #XXX0 Relay (word) W#XXX0 Function S (binary data) is converted to BCD data and it is output to D when the input signal is at ON state.
Page 132 1.13 Standard Ladder Program MOV Instruction Format MOV S, D S: Source Register (M000-M161) Decimal (0-65535) Relay (byte) #XXX0 Relay (word) W#XXX0 D: Destination Register (M000-M099, M150-M161) Relay (byte) #XXX0 Relay (word) W#XXX0 Function S is output to D when the input signal is at ON state. As a result of calculation, the carry ﬂag (#5260) of a speciﬁc output are changed.
Page 133 1.13 Standard Ladder Program WAND Instruction Format WAND S1, S2, D S1: Source Register (M000-M161) S2: Source Decimal (0-65535) Relay (byte) #XXX0 Relay (word) W#XXX0 D: Destination Register (M000-M099, M150-M161) Relay (byte) #XXX0 Relay (word) W#XXX0 Function Logical AND operation between S1 and S2 is performed and the result is output to D when the input signal is at ON state.
Page 134 1.13 Standard Ladder Program WOR Instruction Format WOR S1, S2, D S1: Source Register (M000-M161) S2: Source Decimal (0-65535) Relay (byte) #XXX0 Relay (word) W#XXX0 D: Destination Register (M000-M099, M150-M161) Relay (byte) #XXX0 Relay (word) W#XXX0 Function Logical OR operation between S1 and S2 is performed and the result is output to D when the input signal is at ON state.
Page 135 1.13 Standard Ladder Program WXOR Instruction Format WXOR S1, S2, D S1: Source Register (M000-M161) S2: Source Decimal (0-65535) Relay (byte) #XXX0 Relay (word) W#XXX0 D: Destination Register (M000-M099, M150-M161) Relay (byte) #XXX0 Relay (word) W#XXX0 Function Exclusive OR operation between S1 and S2 is performed and the result is output to D when the input signal is at ON state.
Page 136 1.13 Standard Ladder Program WNOT Instruction Format WNOT S, D S: Source Register (M000-M161) Decimal (0-65535) Relay (byte) #XXX0 Relay (word) W#XXX0 D: Destination Register (M000-M099, M150-M161) Relay (byte) #XXX0 Relay (word) W#XXX0 Function Logical negation operation of S is performed and the result is output to D when the input sig- nal is at ON state.
Page 137 1.13 Standard Ladder Program SHL Instruction Format SHL S, n, D S: Source Register (M000-M161) Decimal (0-65535) Relay (byte) #XXX0 Relay (word) W#XXX0 n: Shift count Decimal (0-16) D: Destination Register (M000-M099, M150-M161) Relay (byte) #XXX0 Relay (word) W#XXX0 Function 16 bits data contents of S is shifted to the high bit direction (left) n times and the result is out- put to D when the input signal is at ON state.
Page 138 1.13 Standard Ladder Program SHR Instruction Format SHR S, n, D S: Source Register (M000-M161) Decimal (0-65535) Relay (byte) #XXX0 Relay (word) W#XXX0 n: Shift count Decimal (0-16) D: Destination Register (M000-M099, M150-M161) Relay (byte) #XXX0 Relay (word) W#XXX0 Function 16 bits data contents of S is shifted to the low bit direction (right) n times and the result is out- put to D when the input signal is at ON state.
Page 139 1.13 Standard Ladder Program ROL Instruction Format ROL S, n, D S: Source Register (M000-M161) Decimal (0-65535) Relay (byte) #XXX0 Relay (word) W#XXX0 n: Shift count Decimal (0-16) D: Destination Register (M000-M099, M150-M161) Relay (byte) #XXX0 Relay (word) W#XXX0 Function 16 bits data contents of S is shifted to the high bit direction (left) n times and the result is out- put to D when the input signal is at ON state.
Page 140 1.13 Standard Ladder Program ROR Instruction Format ROR S, n, D S: Source Register (M000-M161) Decimal (0-65535) Relay (byte) #XXX0 Relay (word) W#XXX0 n: Shift count Decimal (0-16) D: Destination Register (M000-M099, M150-M161) Relay (byte) #XXX0 Relay (word) W#XXX0 Function 16 bits data contents of S is shifted to the low bit direction (right) n times and the result is out- put to D when the input signal is at ON state.
Page 141 1.13 Standard Ladder Program Arithmetic Flag 1.13.3 Flag Type The arithmetic ﬂag is a signal to reﬂect calculation result in the operation of the next steps. There are three types of ﬂags. These ﬂags are allocated to the following speciﬁc output. •...
Page 142 1.13 Standard Ladder Program Arc Welding 1.13.4 Ladder Program List System Ladder Section Standard ladders are prepared for each application prior to shipment. Ladder programs can- not be edited. GAS SHORTAGE 2300 5280 5282 7067 7042 WIRE SHORTAGE 2301 5280 5281 7067 7043...
Page 143 1.13 Standard Ladder Program SEQUENCE WAIT REQUEST 7030 7034 5110 5063 7022 7031 5111 7036 5112 7032 7033 5113 WAITING UNTIL INTERFERENCE IS OFF 5110 7022 7021 5111 5112 5113 7021 5076 5070 IN CUBE 1 7034 5110 7021 IN CUBE 2 5111 7021 7035...
Page 144 1.13 Standard Ladder Program CONTROL POWER ON COM- PLETED (NORMALLY ON) 7017 7017 7017 SYSTEM RESERVED 7016 7016 SYSTEM RESERVED 7015 7016 M069 7015 OPERATION CONTINUING 5070 5081 5073 7020 7125 7125 MOTOR STOP MEMORY 7060 7061 7047 7066 7047 7050 MOTOR DIRECTION M124...
Page 145 1.13 Standard Ladder Program WIRE INCHING REQUEST 1246 5053 7056 5070 1246 5070 5275 WIRE RETRACT REQUEST 7057 1247 5053 5070 1247 5070 5276 WIRE INCHING 7062 7056 7057 7054 7060 5070 WIRE RETRACT 7062 7056 7057 7055 7061 5070 ARC SHORTAGE (DURING ARC ON) 7041...
Page 146 1.13 Standard Ladder Program ARC OCCURRENCE CONDITION CYCLE 5050 7062 7086 7124 7021 7064 7064 ARC OCCURRENCE CONDITION MODE 5053 5064 7046 5087 5085 7065 ARC OCCURRENCE CONDTION MODE OK 7064 7065 7054 7066 WORK TIME MEASURE 7066 4172 WIRE STICKING CHECK COMPLETED AT ARC RESPONSE ERROR 7067...
Page 147 1.13 Standard Ladder Program RETRY RETURN REQUEST 7092 7093 5277 5287 4176 4176 WORK START RESPONSE 7066 4170 7062 5270 4175 4176 7070 4170 ARC-RETRY PROCESSING 7096 7094 7092 4176 5277 ARC RESPONSE ERROR OUTPUT 7096 7090 7091 ARC RESPONSE ERROR (SUB) M120 7067...
Page 148 1.13 Standard Ladder Program AUTOMATIC WIRE STICKING RELEASE COUNT UP M127 7066 7085 M097 7084 WIRE STICKING DETEC- TION(AT OFF/ ERROR) 7066 7044 7074 7067 RETRY COUNT UP M125 4175 7095 M095 7094 SYSTEM SECTION ALARM CODE d0 7091 4020 7111 SYSTEM SECTION ALARM CODE d1...
Page 149 1.13 Standard Ladder Program SYSTEM SECTION MESSAGE CODE d0 7100 5282 5280 7115 4030 5281 7107 7106 7080 SYSTEM SECTION MESSAGE CODE d!1 5282 5281 5280 7115 4031 7100 7106 7080 7107 SYSTEM SECTION MESSAGE CODE d2 7115 4032 SYSTEM SECTION MESSAGE REQUEST 7115 4011...
Page 150 1.13 Standard Ladder Program WIRE STICKING (FINAL) 7080 7077 7085 7074 7076 7080 NO WIRE STICKING M122 7074 7082 7081 M092 WIRE STICKING CHECK M123 7073 7082 M093 WIRE STICKING CHECK COMPLETED 7075 7073 7083 7081 SEQUENCE WAIT 7082 5070 4061 7066 7070...
Page 151 1.13 Standard Ladder Program ARC SHORTAGE ALARM CONDITION WAITING 2 7116 7117 ARC SHORTAGE ALARM CONDITION WAITING 1 4180 7116 GAS SHORTAGE MESSAGE CONDITION 7106 7121 5281 7042 5283 7097 7104 7106 GAS SHORTAGE MESSAGE CONDITION WAITING 2 7120 7121 GAS SHORTAGE MESSAGE CONDITION WAITING 1 4181...
Page 152 1.13 Standard Ladder Program RESTART REQUEST (ARC SHORTAGE) 7104 7105 7103 4180 7086 4180 RESTART REQUEST (GAS SHORTAGE) 7042 7086 7104 7106 7103 4181 4181 RESTART REQUEST (WIRE SHORTAGE) 7043 7086 7042 7104 7107 7103 4182 4182 ARC SHORTAGE RESTART MEMORY 4180 5283...
Page 153 1.13 Standard Ladder Program User Ladder Section Signal connection speciﬁcation and interface signals with system ladder are prepared prior to shipment. Including, these signals, ladder programs can be edited. EXTERNAL START 2010 7010 MASTER JOB CALL 2012 4090 ALARM/ERROR RESET 2013 4014 REMOTE MODE SELECT (IO)
Page 154 1.13 Standard Ladder Program BATTERY ALARM 5015 3014 5016 REMOTE MODE SETTING 4057 3015 5055 PLAY MODE SETTING 5054 3016 TEACH MODE SETTING 5053 3017 IN CUBE 1 7034 3020 IN CUBE 2 7035 3021 WORK HOME POSITION IN CUBE 24 5137 3022 SEQUENCE EXECUTING...
Page 155 1.13 Standard Ladder Program 2090 0060 2100 0070 2110 0080 2120 0090 2130 0100 2140 0110 2150 0120 2160 0130 2170 0140 2180 0150 2190 0160 2200 0170 2210 0180 2220 2190 1-125...
Page 156 1.13 Standard Ladder Program 2230 0200 2240 0210 1010 3040 1020 3050 1030 3060 1040 3070 1050 3080 1060 3090 1070 3100 1080 3110 1090 3120 1100 3130 1110 3140 1120 3150 1-126...
Page 157 1.13 Standard Ladder Program 1130 3160 1140 3170 1150 3180 1160 3190 1170 3200 1180 3210 1190 3220 1200 3230 1210 3240 1-127...
Page 158 1.13 Standard Ladder Program I/O Alarm Alarm No. Register No. I/O Alarm Message System Sec- tion 9000 9010 MISSING ARC GENERATION CON- FIRM 9020 ARC SHORTAGE 9030 9040 GAS SHORTAGE (RESTART) 9050 WIRE SHORTAGE (RESTART) 9060 9070 9080 9090 9100 9110 9120 9130...
Page 159 1.13 Standard Ladder Program I/O Message Register No. I/O Message System Sec- tion WIRE STICKING GAS SHORTAGE WIRE SHORTAGE RESTARTING FOR ARC RESTARTING FOR GAS RESTARTING FOR WIRE END OF ARC RESTARTING User Section 1-129...
Page 160 1.13 Standard Ladder Program USER OPEN SIGNALS Editing of system ladder is impossible, however, the seven signals which are necessary for user’s operation are available. For example, wire inching can be programmed as shown below. OT#189 to OT#192, OT#181 to OT#184, OT#173 to OT#176 USER OPEN SIGNALS Ladder Input Output Number...
Page 161 1.13 Standard Ladder Program OT#190, OT#182, OT#174: RESTART RESET These signals are connected to signal Nos. 4183, 4223, and 4263 in the user ladder. State When these signals are on, restarting is cancelled. Use the signals to cancel restart- ing when “manual intervention” is selected for the restarting method. For a system with one application, use output No.
Page 162 1.13 Standard Ladder Program 1.13.5 Handling LADDER PROGRAM LIST System Ladder Section Standard ladders are prepared for each application prior to shipment. Ladder programs can- not be edited. SYSTEM SECTION ALARM REQUEST 7054 5053 4010 EXTERNAL HOLD 7053 4067 7022 SYSTEM SECTION MESSAGE CODE d0 5276...
Page 163 1.13 Standard Ladder Program CMD REMOTE KEY SELECT 7025 8215 4042 PPANEL OPERATION PROHIBIT 4056 7025 8216 SEQUENCE WAIT 7030 4061 7034 5110 5063 7031 7035 5111 7032 7036 5112 7033 7037 5113 7040 7044 5114 7041 7045 5115 7042 7046 5116 WAITING UNTIL...
Page 164 1.13 Standard Ladder Program IN CUBE 3 R1 5112 7021 7036 IN CUBE 4 R1 5113 7021 7037 IN CUBE 5 R1 5114 7021 7044 IN CUBE 6 R1 5115 7021 7045 IN CUBE 7 R1 5116 7021 7046 ALARM OCCURRENCE 7020 5010 5011...
Page 165 1.13 Standard Ladder Program WORK INSTRUCTION 7050 5270 5271 7052 7050 WORK START RESPONSE : 1 4170 5270 WORK END RESPONSE : 1 4171 5271 WORK OPERATING 7050 5070 7051 WORK TIME MEASURE : 1 4172 7051 WORK INSTRUCTION CONTINUING PROHIBIT 7052 7050 5272...
Page 166 1.13 Standard Ladder Program User Ladder Section Signal connection speciﬁcation and interface signals with system ladder are prepared prior to shipment. Including these signals, ladder programs can be edited. EXTERNAL START 2010 5073 4044 MASTER JOB CALL 2012 4090 ALARM/ERROR RESET 2013 4014 REMOTE MODE SELECT (IO)
Page 167 1.13 Standard Ladder Program SHOCK SENSOR INPUT 5277 5276 2026 7053 5053 AIR PRESSURE DECREASE INPUT 2027 7054 OPERATING 3010 5070 SERVO ON 5073 3011 TOP MASTER JOB 5020 3012 ALARM/ERROR OCCURRENCE 7020 3013 5014 BATTERY ALARM 3014 5015 5016 REMOTE MODE SETTING 3015 4057...
Page 168 1.13 Standard Ladder Program TOOL VALVE 3-1 5284 3044 TOOL VALVE 3-2 5285 3045 TOOL VALVE 4-1 5286 3046 TOOL VALVE 4-2 5287 3047 2030 0010 2050 0020 2060 0030 2070 0040 2080 0050 2090 0060 2100 0070 2110 0080 2120 0090 2130...
Page 169 1.13 Standard Ladder Program 2150 0120 2160 0130 2170 0140 2180 0150 2190 0160 2200 0170 2210 0180 2220 0190 2230 0200 2240 0210 2250 0220 2260 0230 1010 3030 1020 3050 1-139...
Page 170 1.13 Standard Ladder Program 1030 3060 1040 3070 1050 3080 1060 3090 1070 3100 1080 3110 1090 3120 1100 3130 1110 3140 1120 3150 1130 3160 1140 3170 1150 3180 1160 3190 1-140...
Page 171 1.13 Standard Ladder Program 1170 3200 1180 3210 1190 3220 1200 3230 1210 3240 1220 3250 1230 3260 1240 3270 1-141...
Page 172 1.13 Standard Ladder Program I/O ALARM Alarm No. Register No. I/O Alarm Message System Sec- tion 9000 AIR PRESSURE LOWERED 9010 9020 9030 9040 9050 9060 9070 9080 9090 9100 9110 9120 9130 9140 9150 9160 9170 9180 9190 9200 9210 9220 9230...
Page 173 1.13 Standard Ladder Program I/O Message Register No. I/O Message System Sec- tion TOOL SHOCK SENSOR WORKING TOOL SHOCK SENSOR INP. RELEAS- AIR PRESSURE LOWERING User Section 1-143...
Page 174 1.13 Standard Ladder Program Spot Welding 1.13.6 Ladder Program List System Ladder Section Standard ladders are prepared for each application prior to shipment. Ladder programs can- not be edited. REMOTE KEY SIGNAL DIRECTION CHANGE 7014 7013 REMOTE KEY 8011 7014 REMOTE KEY PULSE 7014 7013...
Page 175 1.13 Standard Ladder Program WAITING UNTIL INTERFER- ENCE IS OFF 5110 4061 7021 5111 5112 5113 7021 5076 5070 IN CUBE 1 5110 7021 7034 IN CUBE 2 5111 7021 7035 IN CUBE 3 5112 7021 7036 IN CUBE 4 5113 7021 7037...
Page 176 1.13 Standard Ladder Program WELDING ON/OFF 5054 5270 5064 7040 7070 7020 5053 5277 MANUAL WELDING MESSAGE 7070 5053 7094 TIMER COOLING WATER ALARM 7050 5054 7041 7080 5070 5064 GUN COOLING WATER ALARM 7054 5070 5064 5054 7041 7081 TRANS.
Page 177 1.13 Standard Ladder Program SYSTEM SECTION MESSAGE REQUEST 7090 4011 7091 7093 7094 SYSTEM SECTION MESSAGE CODE d0 7091 7090 4030 7094 7093 SYSTEM SECTION MESSAGE CODE d1 4031 7093 7090 7091 7094 1-147...
Page 178 1.13 Standard Ladder Program User Ladder Section Signal connection speciﬁcation and interface signals with system ladder are prepared prior to shipment. Including these signals, ladder programs can be edited. EXTERNAL START 2010 7010 MASTER JOB 2012 4090 ALARM / ERROR RESET 2013 4014 REMOTE MODE SELECT (IO)
Page 179 1.13 Standard Ladder Program REMOTE MODE SETTING 3015 4057 5055 PLAY MODE SETTING 5054 3016 TEACH MODE SETTING 5053 3017 IN CUBE 1 7034 3020 IN CUBE 2 7035 3021 WORK HOME POSITION IN 5137 3022 CUBE 24 SEQUENCE EXECUTING 5081 3023 IN CUBE 3...
Page 180 1.13 Standard Ladder Program IN011 2042 8222 0022 IN012 2043 8223 0023 IN013 2044 0024 IN014 2045 0025 IN015 2046 0026 IN016 2047 0027 2050 0030 2060 0040 2070 0050 2080 0060 2090 0070 2100 0080 2110 0090 2120 0100 2130 0110 2140...
Page 181 1.13 Standard Ladder Program 2150 0130 2160 0140 2170 0150 2180 0160 2190 0170 2200 0180 2210 0190 2220 0200 2230 0210 2240 0220 2250 0230 1010 3030 1-151...
Page 182 1.13 Standard Ladder Program WELDING ON/OFF (OUT009) 1020 3040 8224 7070 8224 WELDING ERROR RESET (OUT010) 1021 3041 WELDING CONDITION 1 (OUT011) 1022 3042 WELDING CONDITION 2 (OUT012) 1023 3043 WELDING CONDITION 3 (OUT013) 1024 3044 WELDING CONDITION 4 (OUT014) 1025 3045 GUN PRESSURE...
Page 183 1.13 Standard Ladder Program 1110 3130 1120 3140 1130 3150 1140 3160 1150 3170 1160 3180 1170 3190 1180 3200 1190 3210 1200 3220 1210 3230 1220 3240 1230 3250 1240 3260 1-153...
Page 184 1.13 Standard Ladder Program I/O Alarm Alarm No. Register No. I/O Alarm Message System Sec- tion 9000 ERR OF WELD TIMER COOLING WATER 9010 ERROR OF GUN COOLING WATER 9020 ERROR IN TRANSTHERMO OF GUN 9030 AIR PRESSURE LOWERED 9040 9050 9060 9070...
Page 185 1.13 Standard Ladder Program I/O Message Register No. I/O Message System Sec- tion ERR OF WELD TIMER COOLING WATER ERROR OF GUN COOLING WATER AIR PRESSURE LOWERING AVAILABLE TO MANUAL SPOT WELD- User Section 1-155...
Page 186 1.13 Standard Ladder Program 1.13.7 General-Purpose Applications LADDER PROGRAM LIST System Ladder Section Standard ladders are prepared for each application prior to shipment. Ladder programs can- not be edited. REMOTE KEY SIGNAL DIRECTION CHANGE 7014 7013 REMOTE KEY 8011 7014 REMOTE KEY PULSE 7014 7013...
Page 187 1.13 Standard Ladder Program WAITING UNTIL INTERFER- ENCE IS OFF 5110 4061 7021 5111 5112 5113 7021 5076 5070 IN CUBE 1 5110 7021 7034 IN CUBE 2 5111 7021 7035 IN CUBE 3 5112 7021 7036 IN CUBE 4 5113 7021 7037...
Page 188 1.13 Standard Ladder Program WORK INSTRUCTION 5270 5271 7042 7043 7040 7040 WORK START RESPONSE 5270 4170 WORK END RESPONSE 5271 4171 WORK OPERATION 7040 5070 7041 WORK TIME MEASURE 7041 4172 WORK INSTRUCTION CONTINUING PROHIBIT 7042 7040 5272 5070 1-158...
Page 189 1.13 Standard Ladder Program User Ladder Section Signal connection speciﬁcation and interface signals with system ladder are prepared prior to shipment. Including these signals, ladder programs can be edited. EXTERNAL START 2010 7010 MASTER JOB 2012 4090 ALARM / ERROR RESET 2013 4014 REMOTE MODE SELECT (IO)
Page 190 1.13 Standard Ladder Program REMOTE MODE SETTING 3015 4057 5055 PLAY MODE SETTING 5054 3016 TEACH MODE SETTING 5053 3017 IN CUBE 1 7034 3020 IN CUBE 2 7035 3021 WORK HOME POSITION IN 5137 3022 CUBE 24 SEQUENCE EXECUTING 5081 3023 IN CUBE 3...
Page 191 1.13 Standard Ladder Program 2110 0080 2120 0090 2130 0100 2140 0110 2150 0120 2160 0130 2170 0140 2180 0150 2190 0160 2200 0170 2210 0180 2220 0190 2230 0200 2240 0210 1-161...
Page 192 1.13 Standard Ladder Program 2250 0220 2260 0230 1010 3040 1020 3050 1030 3060 1040 3070 1050 3080 1060 3090 1070 3100 1080 3110 1090 3120 1100 3130 1110 3140 1120 3150 1-162...
Page 193 1.13 Standard Ladder Program 1130 3160 1140 3170 1150 3180 1160 3190 1170 3200 1180 3210 1190 3220 1200 3230 1210 3240 1220 3250 1230 3260 1240 3270 1-163...
Page 194 1.13 Standard Ladder Program I/O ALARM Alarm No. Register No. I/O Alarm Message System Sec- tion 9000 9010 9020 9030 9040 9050 9060 9070 9080 9090 9100 9110 9120 9130 9140 9150 9160 9170 9180 9190 9200 9210 9220 9230 User Section 9240 9250...
Page 195 1.13 Standard Ladder Program I/O MESSAGE Register No. I/O Message System Sec- tion User Section 1-165...
Page 196 1.14 Editing Ladder Programs 1.14 Editing Ladder Programs Flow of Data By Ladder Programs 1.14.1 Flow of data in editing, storage, and execution areas by operation of ladder program is shown below. • Only the user ladder program can be edited. The system ladder program cannot be edited.
Page 197 1.14 Editing Ladder Programs 1.14.2 Basic Operation Ladder program is protected so that it cannot be easily changed. The following operations are authorized only to those who can input a user ID No (security:management mode). Operation Select {I/O} from the top menu. Select {Ladder Program} Edit Operation Select {Data} under the menu.
Page 198 1.14 Editing Ladder Programs Editing Operation 1.14.3 The edit operation is divided into instruction registration (addition, change, and deletion) operation and the operand edit operation. Inserting Instruction Operation Move the cursor to the address area. Select the line before the line you wish to add. Select the instruction to be inserted.
Page 199 1.14 Editing Ladder Programs When there are more than two kinds of operand instructions, move the cursor in the instruction to and press [SELECT]. A detailed screen is displayed. When changing numeric data, move the cursor to the corrected data and press the [SHIFT] + [CURSOR KEY] simultaneously.
Page 200 1.14 Editing Ladder Programs CHANGING INSTRUCTIONS Operation Move the cursor to the address area. Select the line to be changed. Select the instruction to be changed. Press [MODIFY]. Press [ENTER]. Explanation The instruction select dialog is displayed. Move the cursor to the instruction list dialog, and the cursor in the address area is underlined.
Page 201 1.14 Editing Ladder Programs To directly input the numeric value, press [SELECT]. The input line is displayed, so input the data using the NUMBER KEY and press [ENTER]. The instruction displayed in the input buffer line is changed. DELETE INSTRUCTIONS Operation Move the cursor to the address area.
Page 202 1.14 Editing Ladder Programs EDITING OPERANDS Operation Move the cursor to the instruction area. Select the line of the operand to be edited. Edit operation Press [ENTER]. Explanation Move the cursor to the input buffer line instruction. When there are more than two kinds of operand instructions, move the cursor in the instruction to and press [SELECT].
Page 203 1.14 Editing Ladder Programs CANCELLING EDITING Use the following steps to cancel editing during the ladder program editing and to return to the preceding program. Operation Select {DATA} under the menu. Select {CANCEL EDIT}. Select “YES”. Explanation The conﬁrmation dialog is displayed. When “YES” is selected, the program returns to the ladder program (program execution) in effect before editing.
Page 204 1.14 Editing Ladder Programs Compile 1.14.4 Use the following steps to compile the ladder program after editing. Operation Select {DATA} under the menu. Select {COMPILE}. Explanation The ladder program starts compiling. The edited ladder program is checked for syntax error. If no error is found, the new pro- gram is written into the execution area to run.
Page 205 1.14 Editing Ladder Programs 1.14.5 Search The search function can be used at editing or conﬁrmation. Search can be executed when the cursor is either in the address area or the instruction area of the user ladder display or the system ladder display. Operation Select {I/O} under the top menu Select {LADDER PROGRAM}...
Page 206 1.14 Editing Ladder Programs TOP LINE, END LINE This is the operation to move the cursor to the ﬁrst line or the last line in the current display. Operation Select “TOP LINE” or “END LINE” of the pulldown menu Explanation The cursor moves to “TOP LINE”...
Page 207 1.14 Editing Ladder Programs SEARCH FOR RELAY NO. AND REGISTER NO. This is the operation to move the cursor to a relay No. or register line in the current display. Operation Select “SEARCH RELAY NO.” or “SEARCH REGISTER NO.” of the pulldown menu Input a desired relay No.
Page 208 1.15 How to Monitor Signals 1.15 How to Monitor Signals Signal status can be monitored in the following displays. • To monitor by logic No. (2010, 2011, etc.)..... C.I/O monitor display • To monitor by I/O No. (IN# 001, OUT# 001, etc.).... I/O status display I/O Display 1.15.1 The following shows an example of an I/O monitor display.
Page 209 1.15 How to Monitor Signals 1.15.2 I/O STATUS DISPLAY Signal status can be monitored by using input number (IN#) or output number (OUT#) in the display. In addition, signal names can also be monitored. Operation Select {DISP} under the menu. Select {DETAILS}.
Page 210 1.15 How to Monitor Signals Move the cursor to the signal status to be changed, and press [INTER- LOCK]+[SELECT]. The status changes l: ON status ¡: OFF status). The relationship between the logic number and the I/O number: The relation between a logical number and the I/O number is as follows. Logic Number I/O Number 0017...
Page 211 1.15 How to Monitor Signals 4017 4016 4015 4014 4013 4012 4011 4010 SIN#008 SIN#007 SIN#006 SIN#005 SIN#004 SIN#003 SIN#002 SIN#001 4027 4026 4025 4024 4023 4022 4021 4020 SIN#016 SIN#015 SIN#014 SIN#013 SIN#012 SIN#011 SIN#010 SIN#009 5017 5016 5015 5014 5013 5012...
Page 212 1.15 How to Monitor Signals 1.15.3 Pseudo Input Signal Display The pseudo input signal status can be checked, and see also signal name. Operation Select {IN/OUT} under the top menu Select {PSEUDO INPUT SIG} Press the page key Explanation The pseudo input signal display is shown. ¡...
Page 213 1.15 How to Monitor Signals Signal name can be registered in the pseudo input signal display in the management mode. Operation Select desired signal Input signal name Press [ENTER] Explanation Move the cursor to the name of desired signal and press [SELECT]. The input buffer line is displayed.
Page 214 1.15 How to Monitor Signals 1.15.4 Register Display The registers can be conﬁrmed in the Register display. Operation Select {I/O} under the top menu Select {REGISTER} Move the cursor to a desired register No. Explanation The register display appears. When a desired register No. is not displayed, move the cursor in the following manner. Move the cursor to “NO.”...
Page 215 1.15 How to Monitor Signals Operation Select a register data to be set Enter a desired numerical value Press [ENTER] Explanation Move the cursor to the data (decimal or binary) of the register No. to be set in the regis- ter display, and press [SELECT].
Page 216 1.15 How to Monitor Signals 1.15.5 Servo Power Status Display The status of “ON_EN” signals connected to each power ON unit and servo power supply of each control group can be conﬁrmed in the Servo Power Status display. Operation Select {I/O} under the top menu Select {SERVO POWER STATUS} Explanation The servo power status display appears.
Page 217 1.15 How to Monitor Signals 1.15.6 Analog Output Display The current settings can be conﬁrmed in the Analog Output display. •TERMINAL The general-purpose analog output ports are displayed. ‚OUTPUT (V) The current output voltage is displayed. ƒBASIC (V) The basic voltage used for executing the analog output corresponding to speed is displayed. The value can be overwritten by setting a new value using ARATION instruction.
Page 218 1.16 I/O Messages and I/O Alarms 1.16 I/O Messages and I/O Alarms Registering the User Section 1.16.1 User section I/O alarms and I/O messages can be displayed or registered in the management mode by the following procedures: Operation Select {I/O} under the top menu. Select {I/O ALARM} or {I/O MESSAGE} Press PAGE KEY...
Page 219 1.16 I/O Messages and I/O Alarms Operation Select the name to be changed. Input the I/O Alarm Name or the I/O Message Name Press [ENTER] Explanation Move the cursor to the name to be changed in either the I/O Alarm (User Section) Dis- play or the I/ Message (User Section) Display, and press [SELECT].
Page 220 1.16 I/O Messages and I/O Alarms 1-190...
Page 221 2.1 Parameter Configuration 2 Parameter Parameter Conﬁguration The parameters of XRC are conﬁgured as follows: SC: System Conform Parameter Parameter According to Manipulator Type Parameter System Common Parameter (Byte Type) RS: Transmission Parameter System Common Parameter (Byte type) (4-Byte Type) AP: Application Parameter0 System Common Parameter (4-Byte type)
Page 222 2.2 System Conform Parameters System Conform Parameters S1CxG Parameter 2.2.1 The initial value of these parameters depends on the manipulator type. For a system with two manipulators, two sets (SlC1G000 to SlC1G149 and SlC2G000 to SlC2G149) of parameters are prepared. S1CxG000: IN-GUARD SAFE OPERATION MAX.
Page 223 2.2 System Conform Parameters S1CxG026 to S1CxG029: JOG OPERATION ABSOLUTE VALUE SPEED These are setting values of jog operation speed set by the programming pendant. Values greater than those set as jog operation speed limit value (S1CxG040 to S1CxG042) cannot be set.
Page 224 2.2 System Conform Parameters ° This process becomes effective when change in direction of steps is between 30 ° Positioning Level Positioning Level Positioning levels are divided into ﬁve stages of 0 to 4 with the “MOV” instruction. e.g. MOVL V=500 PL=1 (PL:Posiitoning Level) The functions at each level are as follows: : Complete positioning to the target point 1-4 : Inward turning operation...
Page 225 2.2 System Conform Parameters S1CxG045 to S1CxG048: JOG OPERATION LINK SPEED These parameters prescribe the link speed at jog operation by the programming pendant. Specify the percentage (%) for the jog operation speed limit, the joint max. speed in the units of 0.01%.
Page 226 2.2 System Conform Parameters S1CxG065: MIRROR SHIFT SIGN INVERSION This parameter sets which axis to be shifted (invert the sign). S1CxG070 to S1CxG085: PULSE SOFT LIMIT Soft limit is set independently for each axis by pulse value setting. Set current value (pulse value) of the axis at the soft limit set up position.
Page 227 2.2 System Conform Parameters Soft Limit Soft limit is a software-type function to limit the range of movement of the manipulator. If the moving control point reaches the soft limit during operation, the manipulator stops automatically and no longer moves in that same direction. An alarm occurs if this soft limit is exceeded during playback.
Page 228 2.2 System Conform Parameters Checking method The checking method differs according to ON/OFF status of servo power supply. During the servo ﬂoat function operation, checking is performed by feedback regardless of the checking method designation.
Page 229 2.2 System Conform Parameters Interference Area It is possible to output whether the control point during operation is inside or outside as a status signal, and to set the area to control the position by parameters S2C002 to S2C074. When the manipulator attempts to enter this area, the corresponding input signal (e.g.
Page 230 2.2 System Conform Parameters S2C027 to S2C074: CUBE USING METHOD These parameters specify the coordinates for deﬁning the cube.If the user coordinates are selected, also specify the user coordinate system numbers.Set cube area referring to the cube interference areas shown in the table below. Coordinate : Pulse (axis interference) speciﬁcation...
Page 231 2.2 System Conform Parameters Interference Prevention in Interference Area Processing to prevent interference is executed in the I/O processing section. The relation between the XRC I/O signal and manipulator operation is shown below. In wait status with the entrance prohibit signal, the manipulator just barely enters the area for speed reduction processing and then stops.
Page 232 2.2 System Conform Parameters Connection Where Two Manipulators are Operated in the Same Area S2C075: SECURITY MODE WHEN CONTROL POWER SUPPLY IS TURNED ON The operation level when the control power supply is turned on is set. : Operation Mode : Editing Mode : Management Mode S2C076: SELECTION OF PERPENDICULAR/CYLINDRICAL...
Page 233 2.2 System Conform Parameters S2C077: COORDINATE SWITCHING This parameter speciﬁes the execution units at step mode of “JOG” operation by the program- ming pendant. S2C078: EXECUTION UNITS AT “FORWARD” OPERATION This parameter speciﬁes the execution units at step mode of “FORWARD” operation by the programming pendant.
Page 234 2.2 System Conform Parameters 0: When robot control point is selected 1: When external reference point is selected S2C083: STEP ONLY CHANGING This parameter speciﬁes whether to permit step only changes in an editing-prohibited job. Only position data can be changed but additional data such as speed cannot be changed. This speciﬁcation can be set at the teaching condition set 1 display.
Page 235 2.2 System Conform Parameters S2C086: ADDITIONAL STEP POSITION This parameter designates either “before next step” or “next to cursor position (between instructions)” as additional step position. This speciﬁcation can be set at the teaching condi- tion set display. <Example> S2C086-0 (Before the Step) S2C086-1 (Between Instructions) S2C087: MASTER JOB CHANGING OPERATION This parameter speciﬁes whether to permit or prohibit master job changing operation.
Page 236 2.2 System Conform Parameters S2C088: CHECK AND MACHINE-LOCK KEY OPERATION IN PLAY MODE This parameter speciﬁes whether to permit or prohibit in play mode to change the operation that changes the operation condition. Even if an error occurs because of the operation with the keys, the manipulator does not stop.
Page 237 2.2 System Conform Parameters S2C092: +MOV INSTRUCTION SPEED INPUT This parameter speciﬁes whether the speed inputting move instructions of the master robot in a coordination job are permitted or not. <Example> 0: Not Provided 1: Provided SMOVL V=100 SMOV L V=100 +MOVL Master Side...
Page 238 2.2 System Conform Parameters S2C097: INITIAL OPERATION OF MANIPULATOR This parameter speciﬁes the operation speed of the ﬁrst section when starting. Specify the operation speed with the low-speed start (S1CxG044). When starting at low-speed, the robot stops after reaching the indicated step regardless of the cycle setting. If the robot is paused in low-speed operation, it moves at teaching speed when starting.
Page 239 2.2 System Conform Parameters S2C102: RESERVED START This parameter speciﬁes whether a reserved start instruction from the playback panel is accepted or not. The speciﬁcation can be set on the play condition set display. S2C104: JOB SELECTION AT REMOTE FUNCTION (PLAY MODE) This parameter speciﬁes whether a job selection in play mode at remote function is prohibited or not.
Page 240 2.2 System Conform Parameters S2C110: PLAYBACK PANEL AND PROGRAMMING PENDANT OPERATION WHEN “IO” IS SELECTED FOR REMOTE MODE This parameter speciﬁes whether each operation of the following is valid when “IO” is selected for remote function selection. IO and command are available for remote function selection: “IO”...
Page 241 2.2 System Conform Parameters S2C112: JOB AT CALLING MASTER OF SUBTASK 1, 2, 3, 4, 5 BY INDEPENDENT CONTROL This parameter speciﬁes the job which is called up when the master of the subtask is called up by independent control. 0: Master Job 1: Root Job Master Job: Job registered in the master control display...
Page 242 2.2 System Conform Parameters S2C117 to S2C119: PARITY OF GENERAL INPUT GROUPS These parameters specify whether to execute priority checks with parameters when instruc- tions covering the input group (1G#) are executed. The instructions covering the input groups are as shown below. •...
Page 243 2.2 System Conform Parameters S2C122 to S2C124: PARITY OF GENERAL OUPUT GROUPS These parameters specify whether the output group instruction is executed with parity check (even parity). Parity bits are set as the highest level bits of each output group. For example, if OG#01 is speciﬁed with parity and DOUT OG# (1) 2 is executed, the result will be 00000010 if 2 is binary converted.
Page 244 2.2 System Conform Parameters S2C127 to S2C129: DATA OF GENERAL INPUT GROUPS These parameters specify whether to handle the input group data as binary data or as BCD data when an instruction for the input group (1G#) is executed. The instructions covering the input groups are as shown below.
Page 245 2.2 System Conform Parameters S2C132 to S2C134: DATA OF GENERAL OUTPUT GROUPS These parameters specify whether the output group instruction is executed with binary data or BCD data. Differences Between Binary Data and BCD Data For the input group and output group, the result will depend on whether the binary or BCD formula is used.
Page 246 2.2 System Conform Parameters S2C139: REMOTE FIRST CYCLE MODE Set the cycle that changes from the local mode to the remote mode. S2C140: LOCAL FIRST CYCLE MODE Set the cycle that changes from the remote mode to the local mode. S2C141: GENERAL OUTPUT NO.
Page 247 2.2 System Conform Parameters S2C160: PLAY MODE FIRST CYCLE MODE Set the cycle that changes from the teach mode to the play mode. S2C161: ALARM CODE SPECIFIC OUTPUT DATA This parameter speciﬁes the data type of the alarm code speciﬁc output. S2C162: START CONDITION AFTER ABSOLUTE DATA ALLOW- ABLE RANGE ERROR OCCURS This parameter speciﬁes the activating method after the absolute data allowable range error...
Page 248 2.2 System Conform Parameters S2C213 to S2C228: SETTING OF OPERATING RELAY NO. Up to 16 output signals can be turned on/off with the programming pendant. The object relay no. is set in these parameters. Although it is possible to set optional values for output Nos. 1 to 192 in the parameters, the following must be taken into consideration.
Page 249 2.2 System Conform Parameters S2C250: POSTURE CONTROL OF SYNCHRONIZED MANIPULA- TOR (When Twin Synchronous Function Used) Specify the posture control method for synchronized manipulator performing compensation during playback by using the twin synchronous function. 0: Matched to Station Movement 1: Fixed in Relation to the Ground S2C251: POSTURE CONTROL OF MANIPULATOR IN MULTI-JOB (When Twin Synchronous Function Used) Specify the posture control method for manipulator executing compensation at the linking side...
Page 250 2.2 System Conform Parameters S2C252 Parameter Setting Movement When Restarting Value After moving deviated position, move to the indicated step. S2C253 Parameter Setting Movement When Restarting Value Move to the next step. After moving deviated position, move to the indicated step. *Moving speed from deviated position is the same as low-speed starting.
Page 251 2.2 System Conform Parameters S2C254: DEVIATED POSITION This parameter speciﬁes whether deviated position is to be robot current (reference) position or feedback position. 0: Return to the feedback position. 1: Return to the current value (reference) position. When emergency stop is applied during high-speed motion, the deviated position differs from the robot current value (reference) position and feedback position as shown in the following.
Page 252 2.2 System Conform Parameters S2C264: JOB LINKING DESIGNATION (When Twin Synchronous Function Used) Specify whether the manipulator at the synchronizing side is to be linked when the robot and the station at the synchronized side are performing FWD/BWD or test run, by using the twin synchronous function.
Page 253 2.2 System Conform Parameters S3C413 to S3C415: POSITION CORRECTING FUNCTION DUR- ING PLAYBACK These parameters specify the necessary data for position correcting function (PAM) during playback operation. S3C413 Speciﬁes the limit of position correcting range S3C414 Speciﬁes the limit of speed correcting range S3C415 Speciﬁes the correcting coordinates 0: Base...
Page 254 2.2 System Conform Parameters S3C426 to S3C449: ANALOG OUTPUT FILTER CONSTANT (When analog output corresponding to speed function is used) By setting a constant to ﬁlter, a ﬁlter processing can be performed for the output analog signal. S3C450: CUT WIDTH CORRECTION VALUE (When form cutting function is used) This parameter speciﬁes the path correction value for pattern cutting operation.
Page 255 2.2 System Conform Parameters S4C040 to S4C045: TWIN DRIVE UNIVERSAL INPUT NO. DESIG- NATION (WHEN TWIN DRIVE FUNCTION USED) In the twin drive function, synchronous operation mode and single operation mode can be alternated by general input signal from an external device. These parameters specify the gen- eral input number to be used.
Page 256 2.2 System Conform Parameters S4C053: STATION AXIS CURRENT VALUE DISPLAY FUNCTION This parameter speciﬁes whether the function to display the current value of the station axis in the following units is valid/invalid. • Rotary Axis: Angle (deg) • Traveling Axis: Distance (mm) 0: Invalid 1: Valid S4C054 to S4C059: STATION DISPLAYED UNIT...
Page 257 2.2 System Conform Parameters S4C060: BASE AXIS OPERATION KEY ALLOCATION SETTING Parameter Setting and Jog Operation Key Allocation Coordinates/Parameter S4C060= ”0” S4C060= “1” Joint Axis number order Speciﬁed Cylinder Axis number order Speciﬁed Rectangular Speciﬁed Speciﬁed Tool Speciﬁed Speciﬁed User Speciﬁed Speciﬁed Axis number order: X: First Axis, Y: Second Axis, Z: Third Axis...
Page 258 2.3 TRANSMISSION PARAMETERS TRANSMISSION PARAMETERS RS000: COMMUNICATION PROTOCOL The protocol of the serial port of the XCP01 substrate is speciﬁed. When the FC1 procedure is selected, FC1/FC2 cannot be used in the port of the programming pendant. 0: No Protocol 2: Basic Protocol 3: FC1 Protocol Basic Protocol...
Page 259 2.3 TRANSMISSION PARAMETERS RS037: NUMBER OF DATA RE-TRANSMISSION RETRIES This parameter speciﬁes the number of re-transmission attempts of text for block check error (NAK reception). RS038: BLOCK CHECK METHOD This parameter speciﬁes the checking method for text transmission errors. Set “0” for this pro- tocol.
Page 260 2.4 Application Parameters RS058: FC2 FORMAT SPECIFICATION Specify the format type of the ﬂoppy disk used with external memory (YASNAC FC2). (Note) 720 kilobytes are unconditionally speciﬁed for YASNAC FC2 (2DD ﬂoppy disk exclu- sive use). RS059: EXTERNAL MEMORY FILE OVERWRITE SPECIFICATION Specify whether to accept the ﬁle overwrite of the external memory (YASNAC FC2 or FC1).
Page 261 2.4 Application Parameters AxP009: WORK CONTINUING This parameter speciﬁes whether to output an “ARCON” instruction to restart after the manip- ulator stopped while the “ARCON” instruction is being output. AxP010: WELDING INSTRUCTION OUTPUT This parameter speciﬁes the beginning number (0 to 12) of the analog output channel to the welder.
Page 262 2.4 Application Parameters Spot Welding 2.4.3 AxP003: MAXIMUM NUMBERS OF CONNECTED WELDERS The initial value is set to 4. AxP004: GUN FULL OPEN STROKE ON/OFF SIGNAL Bit speciﬁcation for 8 guns. The initial value is set to 0. 0 0 0 0 0 0 0 0 | | | | | | | | 8 7 6 5 4 3 2 1 Gun Number...
Page 263 2.5 Parameter List Parameter List S1CxG Parameter 2.5.1 Parameter Initial Contents Meaning Value S1CxG000 In-guard Safe Opera- Speciﬁed by percentage of the max. speed tion Max. Speed Units:0.01% Speciﬁed by percentage of the max. speed S1CxC001 Dry-run Speed Units:0.01% S1CxG002 Joint Speed for Regis- Level 1 tration S1CxG003...
Page 264 2.5 Parameter List Parameter Initial Contents Meaning Value S1CxG030 Inching Move Amount Joint Operation: units: pulses S1CxG031 Perpendicular/cylindrical operation (tool, user) Units: 0.1mm/sec ° S1CxG032 Control Point Constant Operation Units: 0.1 S1CxG033 Positioning Zone Level 1 µm S1CxG034 Level 2 Units: Distance from target position S1CxG035...
Page 265 2.5 Parameter List Parameter Initial Contents Meaning Value S1CxG065 Mirror Shift Sign Inver- Speciﬁcation of shift axis (inverts sign) sion S1CxG066 Not used S1CG069 SICxG070 Pulse Soft Limit (+) 1st Axis SICxG071 2nd Axis SICxG072 3rd Axis SICxG073 4th Axis Units: pulses SICxG074 5th Axis...
Page 266 2.5 Parameter List 2.5.2 S2C Parameter Parameter Initial Contents Meaning Value S2C000 System Reserved S2C001 Cube Soft Limit Cube Soft Limit 1 Check Base Coordinate Value of Robot 1 0: No Check Control Point 1: With Check Cube Soft Limit 2 (Bit Speciﬁcation) Base Coordinate Value of Robot 2 Control Point...
Page 267 2.5 Parameter List Parameter Initial Contents Meaning Value S2C019 Interference 17 S2C020 Interference 18 S2C021 Interference 19 S2C022 Interference 20 S2C023 Interference 21 S2C024 Interference 22 S2C025 Interference 23 S2C026 Interference 24 S2C027 Interference 1 Using Coordinate Coordinate Speciﬁcation Method Speciﬁcation 0: Pulse 1: Base Coordinate...
Page 268 2.5 Parameter List Parameter Initial Contents Meaning Value S2C051 Interference 13 Using Coordinate Coordinate Speciﬁcation Method Speciﬁcation 0: Pulse 1: Base Coordinate S2C052 Coordinate No. 2: Robot Coordinate S2C053 Interference 14 Using Coordinate 3: User Coordinate Method Speciﬁcation Coordinate No. S2C054 Coordinate No.
Page 269 2.5 Parameter List Parameter Initial Contents Meaning Value S2C075 Function Setting for Power On Security Mode Operation 0: Operation Mode 1: Editing Mode 2: Management mode S2C076 Selection of Perpendicular/Cylindrical 0: Cylindrical Operation 1: Perpendicular Operation S2C077 Coordinate switching at “JOG” operation 0: Tool &...
Page 270 2.5 Parameter List Parameter Initial Contents Meaning Value S2C090 Function Setting in Master Call Operation in Play Mode Editing 0: Permit 1: Prohibited S2C091 Language Level 0: Contracted 1: Standard 2: Expanded S2C092 MOV Instruction Speed Input 0: Not Provided 1: Provided S2C093 MOV Instruction Interpolation Input...
Page 271 2.5 Parameter List Parameter Initial Contents Meaning Value S2C095 Function Setting for Address setting when the control power is turned on General Operation 0: Address when the power is off 1: Initialization (lead address of the master job) S2C096 Job List Display Method at Job Selection 0: Order of Names 1: Order of Date 2: Order of Registration...
Page 272 2.5 Parameter List Parameter Initial Contents Meaning Value S2C110 Function Setting for Playback Panel and Programming Pendant Operation General Operation When “IO” is Selected for Remote Mode S2C111 Operation Method at FWD/BWD Operation or Test Run by Independent Control 0: Job of Displayed Task 1: Start Job S2C112 Job at calling master of sub task 1,2,3,4,5 by indepen-...
Page 273 2.5 Parameter List Parameter Initial Contents Meaning Value S2C115 General I/O Relay General output relay setting when the control power is Function 0: Reset to power off 1: Initialization (All general relays are off) S2C116 S2C117 Parity of general input group(IG#01-IG#08) 0: No parity check S2C118 1: With parity check...
Page 274 2.5 Parameter List Parameter Initial Contents Meaning Value S2C137 S2C138 S2C139 Remote Initial Cycle 0: Step Mode 1: 1 Cycle 2: Continuous Cycle 3: Not speciﬁed S2C140 Local Initial Cycle 0: Step Mode 1: 1 Cycle 2: Continuous Cycle 3: Not speciﬁed S2C141 General output num- 0: No output...
Page 275 2.5 Parameter List Parameter Initial Contents Meaning Value S2C166 Job Teaching Position 0: Possible Change of Con- 1: Not possible trolled Group S2C167 Cooling Fan Alarm Cooling fan alarm Detection 0: Not detected 1: Detected with message display 2: Detected with message/alarm display S2C168 Cooling Fan Alarm 1 SERVOPACK #1 to #4 - Power ON unit connection...
Page 276 2.5 Parameter List Parameter Initial Contents Meaning Value S2C229 Operating Method of Setting 1 0: On at On Key, Off at Off Key Relays 1: On/Off at On Key S2C230 Setting 2 S2C231 Setting 3 S2C232 Setting 4 S2C233 Setting 5 S2C234 Setting 6 S2C235...
Page 277 2.5 Parameter List Parameter Initial Contents Meaning Value S2C257 Robot Interference Interference Check Between Robot 1 and Robot 2 Check 0: No Provided 1: Provided S2C258 Interference Check Between Robot 1 and Robot 3 0: No Provided 1: Provided S2C259 Interference Check Between Robot 2 and Robot 3 0: No Provided 1: Provided...
Page 278 2.5 Parameter List 2.5.3 S3C Parameter Parameter Initial Contents Meaning Value µm S3C000 Cube 1 Soft Limit (Base 1st Position X Units: Coordinate Value of S3C001 Robot 1 Control Point) S3C002 S3C003 2nd Position X S3C004 S3C005 µm S3C006 Cube 2 Soft Limit (Base 1st Position X Units: Coordinate Value of...
Page 279 2.5 Parameter List Parameter Initial Contents Meaning Value S3C040 Cube Interference/Axis Axis 1 (X) Axis Interference (S2C028=0), Interference (Signal 2) Axis 1-8 (+) pulse S3C041 Axis 2 (Y) Position 1 (+) Unit: pulse S3C042 Axis 3 (Z) S3C043 Axis 4 (Not Used) Cube Interference (S2C028=1, 2, or 3), (+X, Y, Z) S3C044...
Page 280 2.5 Parameter List Parameter Initial Contents Meaning Value S3C136 Cube Interference /Axis Interference (Signal 8) S3C143 Position 1 (+) S3C144 Cube Interference /Axis Interference (Signal 8) S3C151 Position 2 (-) S3C152 Cube Interference /Axis Interference (Signal 9) S3C159 Position 1 (+) S3C160 Cube Interference /Axis Interference (Signal 9)
Page 281 2.5 Parameter List Parameter Initial Contents Meaning Value S3C264 Cube Interference /Axis Interference (Signal 16) S3C271 Position 1 (+) S3C272 Cube Interference /Axis Interference (Signal 16) S3C279 Position 2 (-) S3C280 Cube Interference /Axis Interference (Signal 17) S3C287 Position 1 (+) S3C288 Cube Interference /Axis Interference (Signal 17)
Page 282 2.5 Parameter List Parameter Initial Contents Meaning Value S3C392 Cube Interference /Axis Interference (Signal 24) S3C399 Position 1 (+) S3C400 Cube Interference /Axis Interference (Signal 24) S3C407 Position 2 (-) S3C408 µm S3C409 Robot Interference Robot 1 Sphere Radius, Units: Check µm S3C410...
Page 283 2.5 Parameter List Parameter Initial Contents Meaning Value S3C442 Analog Output 9 Unit: msec Primary ﬁlter constant Filter Constant S3C443 Secondary ﬁlter constant S3C444 Analog Output 10 Unit: msec Primary ﬁlter constant Filter Constant S3C445 Secondary ﬁlter constant S3C446 Analog Output 11 Unit: msec Primary ﬁlter constant Filter Constant...
Page 284 2.5 Parameter List 2.5.4 S4C Parameter Parameter Initial Contents Meaning Value S4C000 Not Used S4C004 S4C005 Not Used S4C014 S4C015 Cursor Advance Control 0: Invalid Function 1: Valid S4C016 Cursor Advance Control Unit: % Function CONT Process Comple- tion Position S4C017 Cursor Advance Control Unit: ms...
Page 285 2.5 Parameter List Parameter Initial Contents Meaning Value S4C052 Permission to Change 0: Prohibited Non-Move Instruction to 1: Permitted Move Instruction S4C053 Station Axis Current 0: Invalid Value Display Function 1: Valid S4C054 Station Display Unit Station 1 Bit Designation 0: Display in angle (deg) S4C055 Station 2...
Page 286 2.5 Parameter List Individual Section (2: For BSC Protocol) Parameter Contents Meaning RS030 Number of Data Bits 7: 7 bit 8: 8 bit RS031 Number of stop Bits 0: 1 bit 1: 1.5 bits 2: 2 bits RS032 Parity 0: No Parity 1: Odd Parity 2: Even Parity RS033...
Page 287 2.5 Parameter List Individual Section of Transmission Parameters (3: For FC1 protocol) Parameter Initial Contents Meaning Value RS050 Number of Data Bits 7: 7 bit 8: 8 bit RS051 Number of stop Bits 0: 1 bit 1: 1.5 bits 2: 2 bits RS052 Parity 0: No Parity...
Page 288 2.5 Parameter List 2.5.6 AP (Arc Welding) Parameters The meaning of AP parameters differs according to the applications. Parameter Initial Contents Meaning Value AxP000 Application Arc Welding AxP001 System Reserved AxP002 AxP003 Welding Assignment of Lead Condition No. of Welding End Condition File Welding Start Condition to be Assigned to Welder 2 Files...
Page 289 2.5 Parameter List Parameter Initial Contents Meaning Value AxP026 Jigless (arc) System TOOL 1 ON Instruction (1 to 192) Tool ON/OFF General AxP027 TOOL 1 OFF Instruction (1 to 192) Output No. AxP028 TOOL 2 ON Instruction (1 to 192) AxP029 TOOL 2 OFF Instruction (1 to 192) AP (Handling) Parameters...
Page 290 2.5 Parameter List 2.5.8 AP (Spot Welding) Parameters Parameter Initial Contents Meaning Value AxP000 Application Spot Welding Motor Gun AxP001 AxP002 AxP003 Maximum numbers of The initial value is set to 4. connected welders AxP004 Gun full open stroke ON/ Bit speciﬁcation for 8 guns.
Page 292 BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO.,LTD. 30 Xue Yuan Road, Haidian, B eijing P.R. China Post Code: 100083 Phone 86-10-6233-2782 Fax 86-10-6232-1536 SHOUGANG MOTOMAN ROBOT CO., LTD. 7,Yongchang-North Street, Beijing Economic Technological Investment & Development Area, Beijing 100076, P.R. China Phone 86-10-6788-0551...
Page 293 Basic XRC Wiring Power Sheet (NAS) Power Sheet (JIS) Dedicated Input Common Wiring, Sheets 1 - 5 General Purpose Wiring, Sheets 1 - 5 Basic Arc Welding, Sheets 1 - 5 Basic Handling, Sheets 1 - 5...
Page 294 NOTES...
Page 295 Power Sheet for the XRC, North American Standard (NAS)
Page 296 Power Sheet for the XRC, Japanese Ind. Standard (JIS)
Page 297 XRC Dedicated Input...
Page 298 XRC Common Wiring, Sheet 1...
Page 299 XRC Common Wiring, Sheet 2...
Page 300 XRC Common Wiring, Sheet 3...
Page 301 XRC Common Wiring, Sheet 4...
Page 302 XRC Common Wiring, Sheet 5...
Page 303 XRC General Purpose Wiring, Sheet 1...
Page 304 XRC General Purpose Wiring, Sheet 2...
Page 305 XRC General Purpose Wiring, Sheet 3...
Page 306 XRC General Purpose Wiring, Sheet 4...
Page 307 XRC General Purpose Wiring, Sheet 5...
Page 308 XRC Basic Arc Welding Wiring, Sheet 1...
Page 309 XRC Basic Arc Welding Wiring, Sheet 2...
Page 310 XRC Basic Arc Welding Wiring, Sheet 3...
Page 311 XRC Basic Arc Welding Wiring, Sheet 4...
Page 312 XRC Basic Arc Welding Wiring, Sheet 5...
Page 313 XRC Basic Handling Wiring, Sheet 1...
Page 314 XRC Basic Handling Wiring, Sheet 2...
Page 315 XRC Basic Handling Wiring, Sheet 3...
Page 316 XRC Basic Handling Wiring, Sheet 4...
Page 317 XRC Basic Handling Wiring, Sheet 5...
Page 318 XRC Basic Spot Welding Wiring, Sheet 1...
Page 319 XRC Basic Spot Welding Wiring, Sheet 2...
Page 320 XRC Basic Spot Welding Wiring, Sheet 3...
Page 321 XRC Basic Spot Welding Wiring, Sheet 4...

Motoman XRC 2001 Concurrent I/O And Parameter Manual

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