YASKAWA Motoman UP6 Instructions Manual page 342

7.5 General I/O Signal Assignment
Logical
Number
2010 EXTERNAL START
Functions the same as the [START] button in
the playback panel. Only the rising edge of the
signal is valid. It starts robot operation (play-
back). This signal is invalid if external start is
prohibited from the playback condition display.
2012 CALL MASTER JOB
Only the rising edge of the signal is valid. It
calls up the top of the robot program, that is the
top of the master job
during playback, during teach-lock and when
play master or call is prohibited (set from the
playback operation condition display).
2013 ALARM/ERROR RESET
After an alarm or error has occurred and the
cause been corrected, this signal resets the
alarm or error.
2014 SELECT REMOTE MODE
Functions the same as [REMOTE] on the play-
back panel. Valid only while the signal is ON. It
selects the REMOTE mode.
2015 SELECT PLAY MODE
Functions the same as [MODE] on the play-
back panel. Only the rising edge of the signal is
valid. It selects the PLAY mode. If designated
simultaneously with other modes, the TEACH
mode takes priority. This signal is invalid if
external mode selection is prohibited from the
operation condition display.
2016 SELECT TEACH MODE
The TEACH mode is selected if this signal
turns ON during PLAY mode. Switching to
other modes is disabled while this signal is ON.
If this signal turns ON while the SELECT PLAY
MODE signal is ON, this signal takes priority
and the TEACH mode is selected.
*1
A master job is a job (program) which can be called by CALL MASTER JOB.
Other functions are the same as for normal jobs. Normally, the parent job, which man-
ages the child jobs called up immediately after the power is turned ON, is set as the
master job.
*2
See " 3.7 Interference Area ".
Specific Input List XIU01 (Handling)
Input Name / Function
*1
. This signal is invalid
Logical
Input Name / Function
Number
2020 INTERFERENCE 1 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cub
*2
1 area while this signal is ON, the manipula-
tor goes to wait status (with servo power ON).
During wait status, the manipulator operation
restarts if this signal turns OFF.
2021 INTERFERENCE 2 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cub
*2
2 area while this signal is ON, the manipula-
tor goes to wait status (with servo power ON).
During wait status, the manipulator operation
restarts if this signal turns OFF.
2026 SHOCK SENSOR
This is normally ON (NC) signal input. When it
turns OFF, an XRC displays message "HAND
SHOCK SENSOR OPERATING" and a HOL
is applied. The releasing in TEACH mode is
done on the handling application diagnostic
display. Set hand shock sensor function "NOT
USE" on the handling applications diagnostic
display if this signal is not be used.
2027 LOW AIR PRESSURE
This signal is normally OFF (NO). When it
turns ON, XRC displays user alarm in the
PLAY mode or displays user message in the
TEACH mode.
2040 to SENSOR INPUT 1 - 8
2047 Inputs 1 to 8 are monitored with the HSEN han-
dling specific instructions. Sensor inputs 1 to 8
correspond to HSEN 1 to 8.
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