YASKAWA Motoman UP6 Instructions Manual page 354

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.
2020 INTERFERENCE 1 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cube
*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 cube
*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.
Specific Input List XIU01 (Spot Welding)
Input Name / Function
*1
. This signal is invalid
Logical
Input Name / Function
Number
2022 WELDING ON/OFF (From sequencer)
This signal inputs the welding ON/OFF selector
switch status from the sequencer in the inter-
lock unit. The WELD ON/OFF signal is output
to the welder according to this signal and the
manipulator status. Welding is not executed
when this signal is input (ON).
2023 WELDING PAUSE (From sequencer
This signal is used to move the manipulator t
the origin point when an error occurs in the
welder or the gun.
The robot neglects the spot welding instruction
and operates playback motion.
2024 INTERFERENCE 3 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cub
*2
3 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.
2025 INTERFERENCE 4 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cub
*2
4 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.
2040 TIMER COOLING WATER ERROR
*4 This signal monitors the status of timer cooling
water. The manipulator displays alarm and
stops when this signal is input. The servo
power remains ON.
2041 GUN COOLING WATER ERROR
*4 This signal monitors the status of gun cooling
water. The manipulator displays alarm and
stops when this signal is input. The servo
power supply remains ON.
2042 TRANSTHERMO ERROR
*4 Error signal is sent from the transfomer in the
gun to the robot. This signal is ON normally
(NC) and an alarm occurs when the signal is
OFF. The servo power supply remains ON.
2043 LOW AIR PRESSURE
*4 When air pressure is reduced and this input is
turned ON, an alarm occurs. The servo power
supply remains ON.
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