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6External input/output functions
Parameter
Class
name
JOGNER
Input
Errors during jog opera-
(Operation
tion
right required)
Temporarily ignoring
input signal
Output Errors during jog opera-
tion
Temporary ignoring out-
put signal
HNDCNTLn
Input
-
(n=1 to 3)
Output Mechanism n hand out-
put signal state
(start No., end No.)
HNDstSn
Input
-
(n=1 to 3)
Output Mechanism n hand
input signal state
(start No., end No.)
HNDERRn
Input
Mechanism n hand
(n=1 to 3)
error input signal
Output Mechanism n hand
error output signal
AIRERRn
Input
Mechanism n pneu-
(n=1 to 5)
matic pressure error
input signal
Output Mechanism n pneu-
matic error output signal
USRAREA
Input
-
Output User-designated area
Refer to
Page
8-points
367, "5.8
(start No., end No.)
About user-
defined area"
MnPTEXC
Input
-
(n=1 to 3)
Output Warning for mainte-
nance parts replace-
ment time
MnWUPENA
Input
Mechanism n warm-up
(n=1 to 3)
operation mode enable
(Operation
input signal
right required)
Output Mechanism n warm-up
operation mode output
signal
6-421 Dedicated input/output
Name
Temporarily ignores errors that cannot be reset
during jog operation.
Outputs that the error is being ignored tempo-
rarily.
* This signal is applicable to only machine 1.
-
Outputs the hand output(n=1) 900 to 907 state.
Outputs the hand output(n=2) 910 to 917 state.
Outputs the hand output(n=3) 920 to 927 state.
Example) To output the four points from 900
through 903 to general-purpose output signals
3, 4, 5 and 6, set the HNDCNTL1 to (3, 6).
-
Outputs the hand input(n=1) 900 to 907 state.
Outputs the hand input(n=2) 910 to 917 state.
Outputs the hand input(n=3) 920 to 927 state.
Example) To output the four points from 900
through 903 to general-purpose output signals
3, 4, 5 and 6, set the HNDCNTL1 to (3, 6).
Requests the hand error occurrence.
A LOW level error (error number 30) will be
generated.
Outputs that a hand error is occurring.
Request the pneumatic pressure error occur-
rence.
A LOW level error (error number 31) will be
generated.
Outputs that a pneumatic pressure error is
occurring.
-
Outputs that the robot is in the user-designated
area.
The output is made sequentially for areas 1, 2
and 3, as designed from the one closest to the
start number.
The area is set with parameters AREA1P1,
AREA1P2 to AREA8P1 and AREA8P2.
Setting example)
When USRAREA is used as an example:
If only area 1 is used, USRAREA: 8, 8 Setting
valid
If only area 1,2 is used, USRAREA: 8, 9 Set-
ting valid
USRAREA:-1,-1 to Setting invalid
USRAREA: 8,-1 to Setting invalid(No Error)
USRAREA:-1,8 to Setting invalid(No Error)
USRAREA:9,8 to Setting invalid(Error L6643)
-
This output notifies that the replacement time
of maintenance parts has been reached.
Enables the warm-up operation mode of each
mechanism. (n=1 to 3)
Note: To switch the warm-up operation mode
from enable to disable or vice versa using this
input signal, it is necessary to enable the
warm-up operation mode with the WUPENA
parameter, etc. If the warm-up operation mode
has been disabled with a parameter, inputting
this input signal will not enable the mode.
Outputs that the warm-up operation mode is
currently enabled. (n=1 to 3)
Function
Level -1,
Level -1,
Level -1,
Level
Level -1,
Factory shipment signal number.
Signal
Input, output
level
Note1)
CRnQ
-1,
-1
-1
HNDCNTL1
-1(Start bit),
10048( Start bit ),
-1(End bit)
10055( End bit )
HNDSTS1
-1(Start bit),
10056( Start bit ),
-1(End bit)
10063( End bit )
-1,
-1
-1
-1,
-1
-1
Note5)
Note5)
10064( Start bit ),
-1(Start bit),
-1(End bit)
10071( End bit )
-1( No meaning ),
-1, (No meaning)
-1
-1
-1,
-1
-1
CRnD
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