Page 1 ® Motoman NX100 Controller Concurrent I/O Manual Part Number: 149230-1CD Revision: Motoman, Incorporated 805 Liberty Lane West Carrollton, Ohio 45449 USA 937.847.6200 (Voice) 937.847.6277 (Fax) 937.847.3200 (24-Hour Support) www.motoman.com info@motoman.com...
Page 2 Motoman, Inc. ©2008 by MOTOMAN All Rights Reserved Because we are constantly improving our products, we reserve the right to change specifications without notice. MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing.
Page 3 Concurrent I/O 149230-1 Chapter 1 Introduction About This Document This manual provides information for the Concurrent I/O function and contains the following sections: CHAPTER 1 - INTRODUCTION Provides general information about the structure of this manual, a list of reference documents, and customer service information.
Page 4 Manual Chapter 1 Introduction 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 (SSA2000, HP50, etc.) • Application Type (welding, handling, etc.) •...
Page 5 Concurrent I/O 149230-1 Chapter 2 Safety Introduction It is the purchaser’s responsibility to ensure that all local, county, state, and national codes, regulations, rules, or laws relating to safety and safe operating conditions for each installation are met and followed. We suggest that you obtain and review a copy of the ANSI/RIA National Safety Standard for Industrial Robots and Robot Systems.
Page 6 Manual Chapter 2 Safety This safety section addresses the following: • Standard Conventions (Section 2.2) • General Safeguarding Tips (Section 2.3) • Mechanical Safety Devices (Section 2.4) • Installation Safety (Section 2.5) • Programming, Operation, and Maintenance Safety (Section 2.6) Standard Conventions This manual includes the following alerts in descending order of severity...
Page 7 Concurrent I/O 149230-1 General Safeguarding Tips 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.
Page 8 Manual Chapter 2 Safety Installation Safety Safe installation is essential for protection of people and equipment. The following suggestions are intended to supplement, but not replace, existing federal, local, and state laws and regulations. Additional safety measures for personnel and equipment may be required depending on system installation, operation, and/or location.
Page 9 Concurrent I/O 149230-1 • Any modifications to PART 1, System Section, of the robot controller concurrent I/O program can cause severe personal injury or death, as well as damage to the robot! Do not make any modifications to PART 1, System Section. Making any changes without the written permission of Motoman will VOID YOUR WARRANTY! •...
Page 10 Manual Chapter 2 Safety Notes page 8 Final...
Page 11 YASKAWA NX100 Concurrent I/O Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN- INSTRUCTIONS NX100 INSTRUCTIONS NX100 OPERATOR’S MANUAL NX100 MAINTENANCE MANUAL The NX100 operator’s manual above corresponds to specific usage.
Page 12 If such modification is made, the manual number will also be revised. • If your copy of the manual is damaged or lost, contact a YASKAWA rep- resentative to order a new copy. The representatives are listed on the back cover.
Page 13 NOTES FOR SAFE OPERATION Read this manual carefully before installation, operation, maintenance, or inspection of the NX100. 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 14 WARNING • Before operating the manipulator, check that servo power is turned off when the emergency stop button on the front door of the NX100 and the programming pendant is pressed. When the servo power is turned OFF, the SERVO ON READY lamp on the SERVO ON LED on the programming pendant is turned OFF.
Page 15 • Read and understand the Explanation of Warning Labels in the NX100 Instructions 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 programming pendant, and manipulator cables.
Page 16 Descriptions of the programming pendant 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 17 Concurrent I/O 1.1 Features of Concurrent I/O ......1 1.2 Construction and Specifications of the Concurrent I/O .
Page 18 40042, 40056, 40057: Selection of Operating Modes ..4-28 40050 to 40052: Selection of Cycles ....4-29 4.6.3 Start and Stop Signals ......4-29 40044: EXTERNAL START .
Page 19 40585, 40645, 40705, 40766: ARC SHORTAGE RESTART TIMES CLEAR ..4-38 40586, 40646, 40706, 40766: AUTOMATIC ANTI-STICKING TIMES CLEAR..4-38 40600, 40660, 40720, 40780: SENSING PROHIBIT ..4-39 4.6.7 Signals for Handling .
Page 20 50073: SERVO ON....... 4-70 50074: I/O SIMULATED ......4-70 50075: JOB EDITING OPERATION INDICATION .
Page 21 50774, 50834, 50894, 50954: NOZZLE CLEANING REQUEST ....4-77 50775, 50835, 50895, 50955: INCHING ....4-77 50776, 50836, 50896, 50956: RETRACT .
Page 22 5.4 Signals for General-Purpose Applications ..5 Internal Control Status Signals 6.1 Internal Control Status Signals ..... 6 6.1.1 Internal Control Status Signal (Monitor) .
Page 23 Network I/O Signals Interface Panel Signals I/O Except Concurrent I/O 10.1 Hardware Specific Input ......10 10.2 I/O Except Concurrent I/O: Explanation .
Page 24 OUT Instruction....... . . 12-10 PART Instruction....... . 12-10 END Instruction.
Page 25 How to Monitor Signals 13.1 Monitoring I/O Signals ......13 13.1.1 I/O Windows ........13-1 13.2 I/O Status Window .
Page 26 Clearing Signals when Powering ON ....15-3 15.3 Clearing the Auxiliary Relay Signals ... . . 15 Clearing Signals when Powering ON .
Page 27 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 NX100 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 28 1.2 Construction and Specifications of the Concurrent I/O System Ladder Section A standard ladder selected for your applications is prepared at the factory. For more information, see “11 Standard Ladder Program” The ladder program cannot be edited. Specification of signal connections and interface signal with system ladder are User Ladder Section prepared at the factory.
Page 29 1.2 Construction and Specifications of the Concurrent I/O 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 Fuctions •...
Page 30 2 Classification of I/O Signals Classification of I/O signals Logic Name Classification Description Range General Input Referenced with input instruction of the job 00010 - 01287 0 xxxx (1024 signals) General Output Referenced with output instruction of the job 10010 - 11287 1 xxxx (1024 signals) External Input...
Page 31 2.1 I/O Signals I/O Signals 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 32 2.1 I/O Signals Specified Channel Number Eight signals are defined as one channel. [001] Last eight signals [nnn] Last eight signals Refer to the under mentioned table for concrete channel number. Relay Number in Specified Channel One of eight signals is specified by numerical value (0-7). Channel No.
Page 33 2.2 Register Register The register is data of each every word (16 bits). General register (M000 - M259) and analog output register (M260 - M299) are readable and writable. System register (M340 - M499) and analog input register (M300 - M339) are readable only, and the data is set by the system.
Page 34 2.2 Register Analog Output Register This is composed of one word (16 bits). The analog output registers (M260 - M299) correspond to the analog outputs 1 to 40. Since an analog output board with different digital resolution (D/A circuit) is used in common with the analog output register, the data below the resolution is cut off at output.
Page 35 2.2 Register Analog Input Register This is composed of one word (16 bits). The analog input registers (M300 - M339) correspond to the analog inputs 1 to 40. Analog input AIN01 M300 AIN02 M301 AIN40 M339 The register value per 1 V is: 1 (V) = 32767 (7fffH) / 5 (V) 6553 (1999H) Input Voltage...
Page 36 2.2 Register Binary Number Digit of 1000 Digit of 100 Digit of 10 Digit of 1 Binary number and BCD expression of the decimal number Decimal Number Binary 0000 0000 0000 0001 0000 0000 0000 0001 0000 0000 0000 1100 0000 0000 0001 0010 0000 0000 0111 1011 0000 0001 0010 0011...
Page 37 3.1 Arc Welding 3 Configuration of I/O Signals Arc Welding NX100 JANCD-NCP01 Control Control (Hardware) Status Data For Status Signal Area Analog Voltage Processing Specific I/O Board Section JANCD-NEW01 3XXXX 80XXX 31210 31287 21210 21287 2XXXX 5XXXX Operating Status/ Specific Condition I/O Area Processing Section...
Page 38 3.2 Handling, Spot Welding, and General-Purpose Applications Handling, Spot Welding, and General-Purpose Applications NX100 JANCD-NCP01 Control Control (Hardware) Status Status Signal Area Processing Section 80XXX 5XXXX Operating Status/ Specific Condition I/O Area Processing Section General I/O Board 4XXXX JANCD-NIO01 1XXXX Instruction General Processing...
Page 39 4.1 Specific Input Signals for All Applications 4 Specific I/O Signals Specific Input Signals for All Applications 40017 40016 40015 40014 40013 40012 40011 40010 SIN#008 SIN#007 SIN#006 SIN#005 SIN#004 SIN#003 SIN#002 SIN#001 USER USER SYSTEM SYSTEM SAFETY ALARM MESSAGE ALARM MESSAGE ALARM...
Page 40 4.1 Specific Input Signals for All Applications 40087 40086 40085 40084 40083 40082 40081 40080 SIN#064 SIN#063 SIN#062 SIN#061 SIN#060 SIN#059 SIN#058 SIN#057 40097 40096 40095 40094 40093 40092 40091 40090 SIN#072 SIN#071 SIN#070 SIN#069 SIN#068 SIN#067 SIN#066 SIN#065 WAIT JOB WAIT JOB WAIT JOB WAIT JOB...
Page 41 4.1 Specific Input Signals for All Applications 40167 40166 40165 40164 40163 40162 40161 40160 SIN#128 SIN#127 SIN#126 SIN#125 SIN#124 SIN#123 SIN#122 SIN#121 USER MASSAGE CODE (BINARY) 40177 40176 40175 40174 40173 40172 40171 40170 SIN#136 SIN#135 SIN#134 SIN#133 SIN#132 SIN#131 SIN#130 SIN#129...
Page 42 4.1 Specific Input Signals for All Applications 40257 40256 40255 40254 40253 40252 40251 40250 SIN#200 SIN#199 SIN#198 SIN#197 SIN#196 SIN#195 SIN#194 SIN#193 40267 40266 40265 40264 40263 40262 40261 40260 SIN#208 SIN#207 SIN#206 SIN#205 SIN#204 SIN#203 SIN#202 SIN#201 40277 40276 40275 40274...
Page 43 4.1 Specific Input Signals for All Applications 40337 40336 40335 40334 40333 40332 40331 40330 SIN#264 SIN#263 SIN#262 SIN#261 SIN#260 SIN#259 SIN#258 SIN#257 PP BUZZER 40347 40346 40345 40344 40343 40342 40341 40340 SIN#272 SIN#271 SIN#270 SIN#269 SIN#268 SIN#267 SIN#266 SIN#265 40357 40356...
Page 44 4.1 Specific Input Signals for All Applications 40417 40416 40415 40414 40413 40412 40411 40410 SIN#328 SIN#327 SIN#326 SIN#325 SIN#324 SIN#323 SIN#322 SIN#321 40427 40426 40425 40424 40423 40422 40421 40420 SIN#336 SIN#335 SIN#334 SIN#333 SIN#332 SIN#331 SIN#330 SIN#329 40437 40436 40435 40434...
Page 45 4.1 Specific Input Signals for All Applications 40497 40496 40495 40494 40493 40492 40491 40490 SIN#392 SIN#391 SIN#390 SIN#389 SIN#388 SIN#387 SIN#386 SIN#385 40507 40506 40505 40504 40503 40502 40501 40500 SIN#400 SIN#399 SIN#398 SIN#397 SIN#396 SIN#395 SIN#394 SIN#393 40517 40516 40515 40514...
Page 46 4.2 Specific Input Signals for Arc Welding Specific Input Signals for Arc Welding Device 1 40577 40576 40575 40574 40573 40572 40571 40570 SIN#456 SIN#455 SIN#454 SIN#453 SIN#452 SIN#451 SIN#450 SIN#449 RETRY WORK ANTI-STICK RETRY NOZZLE TIME WORK END START REQUEST REQUEST CLEANED...
Page 47 4.2 Specific Input Signals for Arc Welding Device 2 40637 40636 40635 40634 40633 40632 40631 40630 SIN#504 SIN#503 SIN#502 SIN#501 SIN#500 SIN#499 SIN#498 SIN#497 RETRY WORK ANTI-STICK RETRY NOZZLE TIME WORK END START REQUEST REQUEST CLEANED CHANGED MEASURE ANSWER REQUEST ANSWER 40647...
Page 48 4.2 Specific Input Signals for Arc Welding Device 3 40697 40696 40695 40694 40693 40692 40691 40690 SIN#552 SIN#551 SIN#550 SIN#549 SIN#548 SIN#547 SIN#546 SIN#545 RETRY WORK ANTI-STICK RETRY NOZZLE TIME WORK END START REQUEST REQUEST CLEANED CHANGED MEASURE ANSWER REQUEST ANSWER 40707...
Page 49 4.2 Specific Input Signals for Arc Welding Device 4 40757 40756 40755 40754 40753 40452 40751 40750 SIN#600 SIN#599 SIN#598 SIN#597 SIN#596 SIN#595 SIN#594 SIN#593 RETRY WORK ANTI-STICK RETRY NOZZLE TIME WORK END START REQUEST REQUEST CLEANED CHANGED MEASURE ANSWER REQUEST ANSWER 40767...
Page 50 4.3 Specific Input Signals for Handling Specific Input Signals for Handling Device 1 40577 40576 40575 40574 40573 40572 40571 40570 SIN#456 SIN#455 SIN#454 SIN#453 SIN#452 SIN#451 SIN#450 SIN#449 WORK TIME WORK END START MEASURE ANSWER ANSWER 40587 40586 40585 40584 40583 40582...
Page 51 4.3 Specific Input Signals for Handling Device 2 40637 40636 40635 40634 40633 40632 40631 40630 SIN#504 SIN#503 SIN#502 SIN#501 SIN#500 SIN#499 SIN#498 SIN#497 WORK TIME WORK END START MEASURE ANSWER ANSWER 40647 40646 40645 40644 40643 40642 40641 40640 SIN#512 SIN#511 SIN#510...
Page 52 4.3 Specific Input Signals for Handling Device 3 40697 40696 40695 40694 40693 40692 40691 40690 SIN#552 SIN#551 SIN#550 SIN#549 SIN#548 SIN#547 SIN#546 SIN#545 WORK TIME WORK END START MEASURE ANSWER ANSWER 40707 40706 40705 40704 40703 40702 40701 40700 SIN#560 SIN#559 SIN#558...
Page 53 4.3 Specific Input Signals for Handling Device 4 40757 40756 40755 40754 40753 40752 40751 40750 SIN#600 SIN#599 SIN#598 SIN#597 SIN#596 SIN#595 SIN#594 SIN#593 WORK TIME WORK END START MEASURE ANSWER ANSWER 40767 40766 40765 40764 40763 40762 40761 40760 SIN#608 SIN#607 SIN#606...
Page 54 4.4 Specific Input Signals for Spot Welding Specific Input Signals for Spot Welding Device 1 40577 40576 40575 40574 40573 40572 40571 40570 SIN#456 SIN#455 SIN#454 SIN#453 SIN#452 SIN#451 SIN#450 SIN#449 WELDING ELECTRODE START TIME END WORK STOP EXCHG WORK MEASURE ANSWER WELDER 1...
Page 55 4.4 Specific Input Signals for Spot Welding Device 2 40637 40636 40635 40634 40633 40632 40631 40630 SIN#504 SIN#503 SIN#502 SIN#501 SIN#500 SIN#499 SIN#498 SIN#497 40647 40646 40645 40644 40643 40642 40641 40640 SIN#512 SIN#511 SIN#510 SIN#509 SIN#508 SIN#507 SIN#506 SIN#505 40657 40656...
Page 56 4.4 Specific Input Signals for Spot Welding Device 3 40697 40696 40695 40694 40693 40692 40691 40690 SIN#552 SIN#551 SIN#550 SIN#549 SIN#548 SIN#547 SIN#546 SIN#545 40707 40706 40705 40704 40703 40702 40701 40700 SIN#560 SIN#559 SIN#558 SIN#557 SIN#556 SIN#555 SIN#554 SIN#553 40717 40716...
Page 57 4.4 Specific Input Signals for Spot Welding Device 4 40757 40756 40755 40754 40753 40752 40751 40750 SIN#600 SIN#599 SIN#598 SIN#597 SIN#596 SIN#595 SIN#594 SIN#593 40767 40766 40765 40764 40763 40762 40761 40760 SIN#608 SIN#607 SIN#606 SIN#605 SIN#604 SIN#603 SIN#602 SIN#601 40777 40776...
Page 58 4.5 Specific Input Signals for General-Purpose Applications Specific Input Signals for General-Purpose Appli- cations Device 1 40577 40576 40575 40574 40573 40572 40571 40570 SIN#456 SIN#455 SIN#454 SIN#453 SIN#452 SIN#451 SIN#450 SIN#449 WORK TIME WORK END START MEASURE ANSWER ANSWER 40587 40586 40585...
Page 59 4.5 Specific Input Signals for General-Purpose Applications Device 2 40637 40636 40635 40634 40633 40632 40631 40630 SIN#504 SIN#503 SIN#502 SIN#501 SIN#500 SIN#499 SIN#498 SIN#497 WORK TIME WORK END START MEASURE ANSWER ANSWER 40647 40646 40645 40644 40643 40642 40641 40640 SIN#512 SIN#511...
Page 60 4.5 Specific Input Signals for General-Purpose Applications Device 3 40697 40696 40695 40694 40693 40692 40691 40690 SIN#552 SIN#551 SIN#550 SIN#549 SIN#548 SIN#547 SIN#546 SIN#545 WORK TIME WORK END START MEASURE ANSWER ANSWER 40707 40706 40705 40704 40703 40702 40701 40700 SIN#560 SIN#559...
Page 61 4.5 Specific Input Signals for General-Purpose Applications Device 4 40757 40756 40755 40754 40753 40752 40751 40750 SIN#600 SIN#599 SIN#598 SIN#597 SIN#596 SIN#595 SIN#594 SIN#593 WORK TIME WORK END START MEASURE ANSWER ANSWER 40767 40766 40765 40764 40763 40762 40761 40760 SIN#608 SIN#607...
Page 62 4.6 Specific Input Signals: Explanation Specific Input Signals: Explanation The following symbols are used in the explanation to represent the signal condition. The signal takes effect while it is in ON The rising edge is detected as the Rising State state.
Page 63 4.6 Specific Input Signals: Explanation Setting Value 0: OFF 1: ON 40135 40134 40133 40132 40131 40130 40011: SYSTEM MESSAGE REQUEST When this signal is on, the message of the corresponding message code of specific State inputs (40150 to 40155) appears on the programming pendant screen. Manipulator operation will not be affected even if the message is displayed.
Page 64 4.6 Specific Input Signals: Explanation Setting Value 0: OFF 1: ON 40145 40144 40143 40142 40141 40140 40013: USER MESSAGE REQUEST When this signal is on, the message of the corresponding message code of specific State inputs (40160 to 40165) appears on the programming pendant screen. Manipulator operation will not be affected even if the message is displayed.
Page 65 4.6 Specific Input Signals: Explanation 40014: ALARM RESET This signal clears alarms or errors when there is a minor failure, system alarm, user Rising alarm, or user error. Use this signal when desiring to reset an alarm or error from the outside.
Page 66 4.6 Specific Input Signals: Explanation 4.6.2 Selecting Mode/Cycle and Calling Master Job 40030: MASTER JOB CALLING This signal resets the operating sequence. When the signal is on, the heading of the Rising master job (Line: 0) will be called up as an execution job. This can be used for executing system initialization automatically when the power is turned on .
Page 67 4.6 Specific Input Signals: Explanation Operation Mode Processing Standard Ladders Select "REMOTE" with the mode selection switch of the programing pendant. Remote Mode Selected 40042 40056 40057 Not Selected Selected IO 0 OFF 1 ON Slected Command • For remote function selection, refer to the “7 Pseudo Input Signals”. •...
Page 68 4.6 Specific Input Signals: Explanation 40045: 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 specific input terminal block to +24V (29 - 30).
Page 69 4.6 Specific Input Signals: Explanation 40046: Check Operation This signal is not a start instruction. When the signal is on, the work instruction in the State job is not executed. Use the signal to check the taught steps and motions. This signal is invalid when “CHECK/ MACHINE LOCK PROHIBIT”...
Page 70 4.6 Specific Input Signals: Explanation 40070 to 40073: 1-Step Back Operating Instruction When these signals are on at start up, the manipulator moves to one step before the State displayed step at low speed and stops there disregarding the cycle. These can be used for performing the operation one step before since some operations are difficult to be executed.
Page 71 4.6 Specific Input Signals: Explanation <Example 1> The following is an example of using the signal to check S-Axis/ Cube Interference. Operating Limit Sequence IN-A A-area Releasing Operating in A-area Wait Operating IN-B B-area in B-area Operating IN-C C-area in C-area Operating Sequence Wait A-area...
Page 72 4.6 Specific Input Signals: Explanation <Example 2> The following is an example of using the signal to detect wire sticking in arc welding. Arc Interrupted Detection OK Detect Instruction Wire Arc OFF Sticking Wire Sticking Timer Wire Sticking Detect Instruciton Detecting Signal Wire Sticking...
Page 73 4.6 Specific Input Signals: Explanation 40110 to 40113: Work Home Position Return Request The manipulator moves to the work home position at the speed of parameter Rising SICxG056 at joint operation by starting up these signals in the play mode. During returning to the home position, the "START"...
Page 74 4.6 Specific Input Signals: Explanation 40170 to 40177: SUB 1, 2, 3, 4, 5, 6, 7, and MASTER START REQUEST When the signals are turned on, the robot starts its operation automatically by each Rising sub task 1, 2, 3, 4, 5, 6, 7, and the master job individually. When the signals are accepted, the signals "RUN", 50320 to 50327 are turned on.
Page 75 4.6 Specific Input Signals: Explanation 40573, 40633, 40693, 40753: TIP REPLACEMENT COMPLETED When these signals are on, tip replacement time is reset and the “TIP State REPLACEMENT REQUEST” (50773, 50833, 50893, or 50953) signal goes off. For a system with one application, use signal No. 40573. 40574, 40634, 40694, 40754: NOZZLE CLEANING COMPLETED When these signals are on, nozzle cleaning time is reset and the “NOZZLE State...
Page 76 4.6 Specific Input Signals: Explanation 40581, 40641, 40701, 40761: RESTART REQUEST (GAS SHORTAGE) State 40582, 40642, 40702, 40762: RESTART REQUEST (WIRE SHORTAGE) When these signals are on, restart operations are requested. The restart operation State differs from each restart mode. For a system with one application, use signal No.
Page 77 4.6 Specific Input Signals: Explanation 40600, 40660, 40720, 40780: SENSING PROHIBIT When these signals are on, sensing is not performed in the started job. Use the State signals to check the taught steps and motions with the sensing function off. 4.6.7 Signals for Handling Signals from 40570 to 40807 are classified into four blocks and assigned to input signals that...
Page 78 4.6 Specific Input Signals: Explanation 4.6.8 Signals for Spot Welding Signals from 40570 to 40807 are classified into four blocks and are assigned to input signals according to its welding application. As most of these input signals are used for the system, they cannot be used from outside of the NX100.
Page 79 4.6 Specific Input Signals: Explanation 40571, 40631, 40691, 40751: WORK END RESPONSE These signals are used for response to “WORK END INSTRUCTION” (50771, 50831, State 50891, or 50951) signal. For a system with one application, use signal No. 40571. 40572, 40632, 40692, 40752: WORK TIME MEASURE The time during which these signals are on is measured as the operating time.
Page 80 4.7 Specific Output Signals for All Applications Specific Output Signals for All Applications 50017 50016 50015 50014 50013 50012 50011 50010 SOUT#008 SOUT#007 SOUT#006 SOUT#005 SOUT#004 SOUT#003 SOUT#002 SOUT#001 COOLING ENCODER USER SYSTEM MINOR MAJOR ERROR BATTERY BATTERY ALARM ALARM ALARM ALARM OCCUR...
Page 81 4.7 Specific Output Signals for All Applications 50087 50086 50085 50084 50083 50082 50081 50080 SOUT#064 SOUT#063 SOUT#062 SOUT#061 SOUT#060 SOUT#059 SOUT#058 SOUT#057 CUBE INTERFERENCE 50097 50096 50095 50094 50093 50092 50091 50090 SOUT#072 SOUT#071 SOUT#070 SOUT#069 SOUT#068 SOUT#067 SOUT#066 SOUT#065 CUBE INTERFERENCE 50107...
Page 82 4.7 Specific Output Signals for All Applications 50167 50166 50165 50164 50163 50162 50161 50160 SOUT#128 SOUT#127 SOUT#126 SOUT#125 SOUT#124 SOUT#123 SOUT122 SOUT121 SPHERE SPHERE S-AXIS INTRF SPHERE SPHERE INPUT INPUT WORKING INTRF WORKING INTRF R3 ADVNC R3 ADVNC R3, R1 R3, R1 R4, R3 R4, R3...
Page 83 4.7 Specific Output Signals for All Applications 50247 50246 50245 50244 50243 50242 50241 50240 SOUT#192 SOUT#191 SOUT#190 SOUT#189 SOUT#188 SOUT#187 SOUT#186 SOUT#185 CONTROL CONTROL CONTROL CONTROL GROUP ON GROUP ON GROUP ON GROUP ON 50257 50256 50255 50254 50253 50252 50251 50250...
Page 84 4.7 Specific Output Signals for All Applications 50327 50326 50325 50324 50323 50322 50321 50320 SOUT#256 SOUT#255 SOUT#254 SOUT#253 SOUT#252 SOUT#251 SOUT#250 SOUT#249 MASTER MASTER 7 MASTER 6 MASTER 5 MASTER 4 MASTER 3 MASTER 2 MASTER 1 50337 50336 50335 50334 50333...
Page 85 4.7 Specific Output Signals for All Applications 50407 50406 50405 50404 50403 50402 50401 50400 SOUT#320 SOUT#319 SOUT#318 SOUT#317 SOUT#316 SOUT#315 SOUT#314 SOUT#313 50417 50416 50415 50414 50413 50412 50411 50410 SOUT#328 SOUT#327 SOUT#326 SOUT#325 SOUT#324 SOUT#323 SOUT#322 SOUT#321 50427 50426 50425 50424...
Page 86 4.7 Specific Output Signals for All Applications 50487 50486 50485 50484 50483 50482 50481 50480 SOUT#384 SOUT#383 SOUT#382 SOUT#381 SOUT#380 SOUT#379 SOUT#378 SOUT#377 50497 50496 50495 50494 50493 50492 50491 50490 SOUT#392 SOUT#391 SOUT#390 SOUT#389 SOUT#388 SOUT#387 SOUT#386 SOUT#385 50507 50506 50505 50504...
Page 87 4.7 Specific Output Signals for All Applications 50567 50566 50565 50564 50563 50562 50561 50560 SOUT#448 SOUT#447 SOUT#446 SOUT#445 SOUT#444 SOUT#443 SOUT#442 SOUT#441 50577 50576 50575 50574 50573 50572 50571 50570 SOUT#456 SOUT#455 SOUT#454 SOUT#453 SOUT#452 SOUT#451 SOUT#450 SOUT#449 50587 50586 50585 50584...
Page 88 4.7 Specific Output Signals for All Applications 50647 50646 50645 50644 50643 50642 50641 50640 SOUT#512 SOUT#511 SOUT#510 SOUT#509 SOUT#508 SOUT#507 SOUT#506 SOUT#505 ARITHMTC ARITHMTC ARITHMTC ERROR ZERO CARRY FLAG FLAG FLAG 50657 50656 50655 50654 50653 50652 50651 50650 SOUT#520 SOUT#519 SOUT#518...
Page 89 4.7 Specific Output Signals for All Applications 50727 50726 50725 50724 50723 50722 50721 50720 SOUT#576 SOUT#575 SOUT#574 SOUT#573 SOUT#572 SOUT#571 SOUT#570 SOUT#569 50737 50736 50735 50734 50733 5073 50731 50730 SOUT#584 SOUT#583 SOUT#582 SOUT#581 SOUT#580 SOUT#579 SOUT#578 SOUT#577 50747 50746 50745 50744...
Page 90 4.8 Specific Output Signals for Arc Welding Specific Output Signals for Arc Welding Device 1 50777 50776 50775 50774 50773 50772 50771 50770 SOUT#616 SOUT#615 SOUT#614 SOUT#613 SOUT#612 SOUT#611 SOUT#610 SOUT#609 PROHIBIT RETURN CLEAN START RETRACT INCHING CHANGE WORK END WORK RETRY NOZZLE WORK...
Page 91 4.8 Specific Output Signals for Arc Welding Device 2 50837 50836 50835 50834 50833 50832 80531 50830 SOUT#664 SOUT#663 SOUT#662 SOUT#661 SOUT#660 SOUT#659 SOUT#658 SOUT#657 PROHIBIT RETURN CLEAN START RETRACT INCHING CHANGE WORK END WORK RETRY NOZZLE WORK REQUEST CONT 50847 50846 50845...
Page 92 4.8 Specific Output Signals for Arc Welding Device 3 50897 50896 50895 50894 50893 50892 50891 50890 SOUT#712 SOUT#711 SOUT#710 SOUT#709 SOUT#708 SOUT#707 SOUT#706 SOUT#705 PROHIBIT RETURN CLEAN START RETRACT INCHING CHANGE WORK END WORK RETRY NOZZLE WORK REQUEST CONTINUE 50907 50506 50905...
Page 93 4.8 Specific Output Signals for Arc Welding Device 4 50957 50956 50955 50954 50953 50952 50951 50950 SOUT#760 SOUT#759 SOUT#758 SOUT#757 SOUT#756 SOUT#755 SOUT#754 SOUT#753 PROHIBIT RETURN CLEAN START RETRACT INCHING CHANGE WORK END WORK RETRY NOZZLE WORK REQUEST CONTINUE 50967 50966 50965...
Page 94 4.9 Specific Output Signals for Handling Specific Output Signals for Handling Device 1 50777 50776 50775 50774 50773 50772 50771 50770 SOUT#616 SOUT#615 SOUT#614 SOUT#613 SOUT#612 SOUT#611 SOUT#610 SOUT#609 SH-SNSR PROHIBIT SH-SNSR START FUNCTION WORK END WORK VALID WORK SELECT CONTINUE 50787 50786...
Page 95 4.9 Specific Output Signals for Handling Device 2 50837 50836 50835 50834 50833 50832 80531 50830 SOUT#664 SOUT#663 SOUT#662 SOUT#661 SOUT#660 SOUT#659 SOUT#658 SOUT#657 SH-SNSR PROHIBIT SH-SNSR START FUNCTION WORK END WORK VALID WORK SELECT CONTINUE 50847 50846 50845 50844 50843 50842 50841...
Page 96 4.9 Specific Output Signals for Handling Device 3 50897 50896 50895 50894 50893 50892 50891 50890 SOUT#712 SOUT#711 SOUT#710 SOUT#709 SOUT#708 SOUT#707 SOUT#706 SOUT#705 SH-SNSR PROHIBIT SH-SNSR START FUNCTION WORK END WORK VALID WORK SELECT CONTINUE 50907 50506 50905 50904 50903 50902 50901...
Page 97 4.9 Specific Output Signals for Handling Device 4 50957 50956 50955 50954 50953 50952 50951 50950 SOUT#760 SOUT#759 SOUT#758 SOUT#757 SOUT#756 SOUT#755 SOUT#754 SOUT#753 SH-SNSR PROHIBIT SH-SNSR START FUNCTION WORK END WORK VALID WORK SELECT CONT 50967 50966 50965 50964 50963 50962 50961...
Page 98 4.10 Specific Output Signals for Spot Welding 4.10 Specific Output Signals for Spot Welding Device 1 50777 50776 50775 50774 50773 50772 50771 50770 SOUT#616 SOUT#615 SOUT#614 SOUT#613 SOUT#612 SOUT#611 SOUT#610 SOUT#609 WEAR WEAR WORK WELDING CHANGE DETECT DETECT SVSPOT ON/OFF ALARM ERROR...
Page 99 4.10 Specific Output Signals for Spot Welding Device 2 50837 50836 50835 50834 50833 50832 80531 50830 SOUT#664 SOUT#663 SOUT#662 SOUT#661 SOUT#660 SOUT#659 SOUT#658 SOUT#657 50847 50846 50845 50844 50843 50842 50841 50840 SOUT#672 SOUT#671 SOUT#670 SOUT#669 SOUT#668 SOUT#667 SOUT#666 SOUT#665 50857 50856...
Page 100 4.10 Specific Output Signals for Spot Welding Device 3 50897 50896 50895 50894 50893 50892 50891 50890 SOUT#712 SOUT#711 SOUT#710 SOUT#709 SOUT#708 SOUT#707 SOUT#706 SOUT#705 50907 50506 50905 50904 50903 50902 50901 50900 SOUT#720 SOUT#719 SOUT#718 SOUT#717 SOUT#716 SOUT#715 SOUT#714 SOUT#713 50917 50916...
Page 101 4.10 Specific Output Signals for Spot Welding Device 4 50957 50956 50955 50954 50953 50952 50951 50950 SOUT#760 SOUT#759 SOUT#758 SOUT#757 SOUT#756 SOUT#755 SOUT#754 SOUT#753 50967 50966 50965 50964 50963 50962 50961 50960 SOUT#768 SOUT#767 SOUT#766 SOUT#765 SOUT#764 SOUT#763 SOUT#762 SOUT#761 50977 50976...
Page 102 4.11 Specific Output Signals for General-Purpose Applications 4.11 Specific Output Signals for General-Purpose Appli- cations Device 1 50777 50776 50775 50774 50773 50772 50771 50770 SOUT#616 SOUT#615 SOUT#614 SOUT#613 SOUT#612 SOUT#611 SOUT#610 SOUT#609 PROHIBIT START WORK END WORK WORK CONTINUE 50787 50786 50785...
Page 103 4.11 Specific Output Signals for General-Purpose Applications Device 2 50837 50836 50835 50834 50833 50832 80531 50830 SOUT#664 SOUT#663 SOUT#662 SOUT#661 SOUT#660 SOUT#659 SOUT#658 SOUT#657 PROHIBIT START WORK END WORK WORK CONTINUE 50847 50846 50845 50844 50843 50842 50841 50840 SOUT#672 SOUT#671 SOUT#670...
Page 104 4.11 Specific Output Signals for General-Purpose Applications Device 3 50897 50896 50895 50894 50893 50892 50891 50890 SOUT#712 SOUT#711 SOUT#710 SOUT#709 SOUT#708 SOUT#707 SOUT#706 SOUT#705 PROHIBIT START WORK END WORK WORK CONTINUE 50907 50506 50905 50904 50903 50902 50901 50900 SOUT#720 SOUT#719 SOUT#718...
Page 105 4.11 Specific Output Signals for General-Purpose Applications Device 4 50957 50956 50955 50954 50953 50952 50951 50950 SOUT#760 SOUT#759 SOUT#758 SOUT#757 SOUT#756 SOUT#755 SOUT#754 SOUT#753 50967 50966 50965 50964 50963 50962 50961 50960 SOUT#768 SOUT#767 SOUT#766 SOUT#765 SOUT#764 SOUT#763 SOUT#762 SOUT#761 50977 50976...
Page 106 4.12 Specific Output Signals: Explanation 4.12 Specific Output Signals: Explanation 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 Rising State on state.
Page 107 4.12 Specific Output Signals: Explanation 50053 to 50054: MODE SETTING These signals indicate the status of specifications of current mode settings. The State signals are synchronized with the mode select key lamps on the front door of the NX100. The signal corresponding to the selected mode is turned on. 50056: COMMAND REMOTE SETTING This signal indicates that the command remote function such as transmission is valid.
Page 108 4.12 Specific Output Signals: Explanation 50066: POSITION CHECK COMPLETED This signal indicates that the position check operation has been completed after State “Alarm 4107: OUT OF RANGE (ABSO DATA)” occurred . The signal stays ON if the alarm does not occur after power ON. 50067: FULL SPEED RUNNING This signal indicates that the manipulator is running in the condition that the safe State...
Page 109 4.12 Specific Output Signals: Explanation 50077: OT RELEASE This signal indicates that the overrun status is released. State 50180 to 50197: SERVO ON STATUS These signals indicate that the servo power for each robot/station is ON. With the State signal ON, the corresponding servo power for each robot/station is ON. 50200, 50201, 50202, 50203: SEQUENCE WAITING These signals indicate that the manipulator is stopped by the “SEQUENCE WAIT”...
Page 110 4.12 Specific Output Signals: Explanation 50260, 50261, 50262, 50283: WORK RESTART PROHIBIT When an emegercy stop is executed during running at high-speed, the job instruction State stop position may advances from the actual manipulator position due to the servo delay. At restarting, the manipulator moves adjusting this delay, then the job is executed.
Page 111 4.12 Specific Output Signals: Explanation 50350, 50351, 50352: SECURITY MODE These signals indicate the current setting of security mode. State 50350: Operation mode 50351: Editing mode 50352: Management mode 50354: PLAY MODE ENABLE This signal indicates that the play mode enable signal is turned on after changing the State mode to PLAY in the play mode enable function.
Page 112 4.12 Specific Output Signals: Explanation These signals can be used to check interference of two or more manipulators. 4.12.5 Arithmetic Instruction Signal 50640, 50641, 50642: Arithmetic Flag These signals reflect the result of the arithmetic instruction in the following steps. State There are three kinds of flag: Carry Flag(50640), Zero Flag(50641), and Error Flag(50642).
Page 113 4.12 Specific Output Signals: Explanation 50143, 50145, 50153, 50155, 50163, 50165: CRD WORKING These signals indicate coordination jobs are working. The signals are turned off when State the job stops (the start lamp goes OFF). Combination of the robots are as follows: Signals Combination of the Robots 50143...
Page 114 4.12 Specific Output Signals: Explanation 4.12.8 Singals for Arc Welding Signals from 50770 to 51007 are classified into four 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 NX100.
Page 115 4.12 Specific Output Signals: Explanation 50773, 50833, 50893, 50953: TIP REPLACEMENT REQUEST These signals indicate that the preset tip replacement time has come. The signals are State reset by the “TIP REPLACEMENT COMPLETED” (40573, 40633, 40693, 40753) signals. For a system with one application, use signal No. 50773. 50774, 50834, 50894, 50954: NOZZLE CLEANING REQUEST These signals indicate that the set nozzle cleaning request time has come.
Page 116 4.12 Specific Output Signals: Explanation 50780, 50840, 50900, 50960: RESTART PROCESSING (ARC SHORTAGE) State 50781, 50841, 50901, 50961: RESTART PROCESSING (GAS SHORTAGE) State 50782, 50842, 50902, 50962: RESTART PROCESSING (WIRE SHORTAGE) These signals indicate that restarting is executed by the “RESTART REQUEST” State (40580 to 40582, 40640 to 40642, 40700 to 40702, 40760 to 40762) signals.
Page 117 4.12 Specific Output Signals: Explanation 50786, 50846, 50906, 50966: AUTOMATIC ANTI-STICKING SET- TING TIMES EXCEEDED These signals indicate that the accumulated number of automatic anti-sticking times State has been reached or exceeded the set value. For a system with one application,use signal No. 50786. 50787, 50847, 50907, 50967: RETRY REPLAY MODE These signals inform that arc retry is being executed in the replay operation mode.
Page 118 4.12 Specific Output Signals: Explanation 4.12.10 Signals for Spot Welding Signals from 50770 to 51007 are classified into four blocks and assigned to output signals for spot welding applications. Most of these inputs are used by the system so they cannot be used from the outside of the NX100.
Page 119 4.12 Specific Output Signals: Explanation 4.12.11 Signals for General-Purpose Applications Signals from 50770 to 51007 are classified into four 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 NX100.
Page 120 5.1 Signals for Arc Welding 5 Internal Signal Used in Standard Ladder Signals for Arc Welding 70017 70016 70015 70014 70013 70012 70011 70010 CONTROL START POWER ON SYSTEM SYSTEM RECEIVING EXT START COMPLETED RESERVE RESERVE (NORMALITY READY 70027 70026 70025 70024 70023...
Page 121 5.1 Signals for Arc Welding 70087 70086 70085 70084 70083 70082 70081 70080 STICKING AUTO AUTO CHECKED STICKING STICKING STICKING STICKING SHORTAGE STICKING (AT ARC ANS RELEASE CHECKED CHECK STICKING (FINAL) (AT ARC ON) RELEASE ERROR) COUNTINUE 70097 70096 70095 70094 70093 70092...
Page 122 5.2 Signals for Handling Signals for Handling 70017 70016 70015 70014 70013 70012 70011 70010 CONTROL POWER ON SYSTEM SYSTEM EXT START COMPLETED RESERVE RESERVE (NORMALITY 70027 70026 70025 70024 70023 70022 70021 70020 WAIT REMOTE ALARM UNTIL EXT HOLD SELECT OCCUR INTRFNC...
Page 123 5.3 Signals for Spot Welding Signals for Spot Welding 70017 70016 70015 70014 70013 70012 70011 70010 CONTROL START POWER ON SYSTEM SYSTEM RECEIVING EXT START COMPLETED RESERVE RESERVE (NORMALITY READY 70027 70026 70025 70024 70023 70022 70021 70020 WAITING REMOTE ALARM UNTIL...
Page 124 5.3 Signals for Spot Welding 70097 70096 70095 70094 70093 70092 70091 70090 AIR PRESS GUN COOL TIMER COOL WATER WATER MESSAGE MESSAGE MESSAGE REQUEST REQUEST REQUEST 70107 70106 70105 70104 70103 70102 70101 70100 SERVO SERVO SERVO SERVO SERVO INITIAL INITIAL AUTO OFF...
Page 125 5.4 Signals for General-Purpose Applications Signals for General-Purpose Applications 70017 70016 70015 70014 70013 70012 70011 70010 CONTROL EXT START POWER ON SYSTEM SYSTEM RECEIVING EXT START COMPLETED RESERVE RESERVE (NORMALITY READY 70027 70026 70025 70024 70023 70022 70021 70020 WAIT REMOTE ALARM...
Page 126 6.1 Internal Control Status Signals 6 Internal Control Status Signals Internal Control Status Signals * : NC contact 80017 80016 80015 80014 80013 80012 80011 80010 SVON START HOLD TEACH PLAY REMOTE EDIT_LOCK EDIT_LOCK Editing Prohibit REMOTE Remote Mode Select PLAY Play Mode Select TEACH...
Page 127 6.1 Internal Control Status Signals 80037 80036 80035 80034 80033 80032 80031 80030 EXSVON EXDSW EXHOLD SVONRDY1 MAINTE SVONRDY0 SVONRDY0 Servo ON Condition 1 MAINTE Maintenance Input SVONRDY1 Servo ON Condition 2 Deadman Switch Input *EXHOLD External Hold EXDSW External Deadman Switch Input EXSVON External Servo On 80047...
Page 128 6.1 Internal Control Status Signals 80067 80066 80065 80064 80063 80062 80061 80060 EXOT SHOCK1 ERRSVCPU FUCUT ON-EN SHOCK2 *SHOCK2 Shock Sensor Operation Hold *ON-EN Servo On Enabled *FUCUT Blake Fuse Blown *ERRSVCPU Servo CPU Error *SHOCK1 Shock Sensor Operation Emergency Stop *EXOT Ex-Axis Over Travel Over Travel...
Page 129 6.1 Internal Control Status Signals 80097 80096 80095 80094 80093 80092 80091 80090 80647 80646 80645 80644 80643 80642 80641 80640 6.1.1 Internal Control Status Signal (Monitor) 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 Rising...
Page 130 6.1 Internal Control Status Signals 80017: SERVO POWER ON This signal indicates the operating status of the [SERVO POWER] key on the pro- State gramming pendant. 80023: *SAFETY PLUG INPUT This signal turns off when the safety guard input signal, connected to the specific input State terminal block, operates.
Page 131 6.1 Internal Control Status Signals 80032: MAINTENANCE INPUT This signal indicates the operation status of the external maintenance input signal. State This signal is input from the specific input terminal block. For the connection, refer to “12.3.2 Units and Circuit Boards in the CPU Unit” of the NX100 Instructions.
Page 132 6.1 Internal Control Status Signals 80040: SAFE SPEED 2 This signal turns on in the safe speed 2 condition. State 80041: SAFE SPEED 1 This signal turns on in the safe speed 1 condition. State 80046: SAFE SPEED MODE SELECT This signal is ON either in the safe speed 1 or the safe speed 2 condition.
Page 133 6.1 Internal Control Status Signals 80064: *SERVO CPU ERROR This signal turns off when an error is detected in the servo system (AXA01 CPU). State 80065: *SHOCK SENSOR OPERATION EMERGENCY STOP This signal indicates the detecting status of the shock sensor operation detecting State circuit.
Page 134 7.1 Pseudo Input Signals 7 Pseudo Input Signals 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 Rising State on state. signal.
Page 135 8 Network I/O Signals Network input signals are related to optional network functions. For the detailed information, refer to the operator’s manual regarding each network function.
Page 136 9 Interface Panel Signals Interface panel signals are related to the optional interface panel functions. For details, refer to "NX100 OPTIONS INSTRUCTIONS FOR INTERFACE PANEL FUNCTION" (Manual No. HW0482596).
Page 137 10.1 Hardware Specific Input 10 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 138 10.1 Hardware Specific Input +24V2 SAFF1+ SAFF1- SAFF1 SAFF2+ SAFF2 SAFF2- MAINTE1+ MAINTE1- MAINTE1 MAINTE2+ MAINTE2 MAINTE2- SVON+ SVON SVON- SVON HS1+ HS1- HS2+ HS2- FST1+ FST1- FST1 FST2+ FST2 FST2- 27 SSP+ SSP- EXSVON+ EXSVON EXSVON- EXSVON EXHOLD+ EXHOLD- EXHOLD EXDSW11+ Input Signals...
Page 139 10.2 I/O Except Concurrent I/O: Explanation CAUTION • Use the “MAINTE” (Maintenance) input with normally open circuit. • Use the switch which has the key for “MAINTE” input. The system manager is responsible for storage of the key. • Any deadman switch is invalid at the "MAINTE" input. 10.2 I/O Except Concurrent I/O: Explanation EXESP: FOR EXTERNAL EMERGENCY STOP This signal allows to use the emergency stop switch of an external operation equip-...
Page 140 10.2 I/O Except Concurrent I/O: Explanation CPDIN1 to 4: FOR DIRECT IN (SYSTEM) INPUT SIGNAL 1 to 4 This signal can be used in conjunction with the search function. State AXDIN1 to 5: FOR DIRECT IN (SERVO) INPUT SIGNAL 1 to 5 This signal can be used in conjunction with the search function.
Page 141 11.1 Common Usage for All Applications 11 Register 11.1 Common Usage for All Applications 11.1.1 General Register 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...
Page 142 11.1 Common Usage for All Applications M269 M268 M267 M266 M265 M264 M263 M262 M261 M260 ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT M279 M278 M277 M276 M275 M274 M273...
Page 143 11.1 Common Usage for All Applications 11.1.2 System Register M309 M308 M307 M306 M305 M304 M303 M302 M301 M300 ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG INPUT INPUT INPUT INPUT INPUT INPUT INPUT INPUT INPUT INPUT M319 M318 M317 M316...
Page 144 11.1 Common Usage for All Applications M419 M418 M417 M416 M415 M414 M413 M412 M411 M410 M459 M458 M457 M456 M455 M454 M453 M452 M451 M450 11-4...
Page 145 11.2 Arc Welding 11.2 Arc Welding M229 M228 M227 M226 M225 M224 M223 M222 M221 M220 M239 M238 M237 M236 M235 M234 M233 M232 M231 M230 M249 M248 M247 M246 M245 M244 M243 M242 M241 M240 M259 M258 M257 M256 M255 M254 M253...
Page 146 11.3 Handling 11.3 Handling M229 M228 M227 M226 M225 M224 M223 M222 M221 M220 M239 M238 M237 M236 M235 M234 M233 M232 M231 M230 M249 M248 M247 M246 M245 M244 M243 M242 M241 M240 M259 M258 M257 M256 M255 M254 M253 M252 M251...
Page 147 11.4 General Purposes 11.4 General Purposes M229 M228 M227 M226 M225 M224 M223 M222 M221 M220 M239 M238 M237 M236 M235 M234 M233 M232 M231 M230 M249 M248 M247 M246 M245 M244 M243 M242 M241 M240 M259 M258 M257 M256 M255 M254 M253...
Page 148 11.5 Spot Welding 11.5 Spot Welding M229 M228 M227 M226 M225 M224 M223 M222 M221 M220 M239 M238 M237 M236 M235 M234 M233 M232 M231 M230 M249 M248 M247 M246 M245 M244 M243 M242 M241 M240 M259 M258 M257 M256 M255 M254 M253...
Page 149 12.1 List of Usable Instructions 12 Standard Ladder Program 12.1 List of Usable Instructions The following table shows a list of usable instructions in concurrent I/O. In the instruction, there are two kinds of instructions, the one which uses the memory of SUPPLE- one step and the other which uses the memory of two steps.
Page 150 12.1 List of Usable Instructions Instruction Symbol Function Format Remarks ON-delay time (100ms) TMR D,S 2 Steps Set Value Set Value (S) Instruction • Decimal (0-65535) • Register (M000-M499) Curr Value Curr value (D) • Register (M000-M259) Subtract counter CNT D,S 2 Steps Set value (S) Instruction...
Page 151 12.1 List of Usable Instructions 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-M499) D: Destination • Register (M000-M299) D(Quotient)S1/S2 Arith Flag: (Carry=0); (Zero=0); Error=0/1 Modules of 16 bits unsigned MOD S1,S2,D 2 Steps...
Page 152 12.1 List of Usable Instructions Instruction Symbol Function Format Remarks WAND Logical AND of 8/16 bits WAND 2 Steps data Instruction S1,S2,D S1, S2: Source WAND Exe Condition • Decimal (0-65535) • Register (M000-M499) • Relay No. (byte) #XXXX0 • Relay No. (word) DS1∩...
Page 153 12.1 List of Usable Instructions Instruction Symbol Function Format Remarks Left shift of 8/16 bits data SHL S,n,D 2 Steps S: Source Instruction • Decimal (0-65535) Exe Condition • Register (M000-M499) • Relay No. (byte) #XXX0 • Relay No. (word) W#XXXX0 Carry n: Shift count...
Page 154 12.2 Instruction Description 12.2 Instruction Description • Output to each single relay is only once. It is unable to use multiple times of output to the NOTE same relay. • The numbers of the output relays are limited to 0XXXX, 3XXXX, 4XXXX, and 7XXXX. •...
Page 155 12.2 Instruction Description Ladder Program Example <Ladder Diagram> < Program> STR-NOT #70010 #70100 #70010 #70100 AND Instruction Format AND #XXXXX #XXXXX: Relay No. Function Performs logical AND operation. Ladder Program Example <Ladder Diagram> < Program> STR #70010 AND #70011 OUT #70100 #70010 #70011 #70100...
Page 156 12.2 Instruction Description OR Instruction Format OR #XXXXX #XXXXX: Relay No. Function Performs logical OR operation. Ladder Program Example <Ladder Diagram> < Program> #70010 #70011 #70100 #70010 #70100 #70011 OR-NOT Instruction Format OR-NOT #XXXXX #XXXXX: Relay No. Function Performs logical OR negation operation. Ladder Program Example <Ladder Diagram>...
Page 157 12.2 Instruction Description AND-STR Instruction Format AND-STR Function Performs logical AND operation with the preliminary results. Ladder Program Example <Ladder Diagram> < Program> #70010 #70011 #70020 #70021 AND-STR #70010 #70020 #70100 #70100 #70011 #70021 OR-STR Instruction Format OR-STR Function Performs logical OR operation with the preliminary results. Ladder Program Example <Ladder Diagram>...
Page 158 12.2 Instruction Description OUT Instruction Format OUT #XXXXX #XXXXX: Relay No. Function Outputs to the internal or the external. Ladder Program Example NOTE Two or more times output to the same relay cannot be used. <Ladder Diagram> < Program> #70010 #70011 #70100 #70010...
Page 159 12.2 Instruction Description END Instruction Format Function Ends the ladder program. Ladder Program Example NOTE This instruction is not displayed in the programming pendant screen. <Ladder Diagram> < Program> #70010 There is no symbol. #70100 TMR Instruction Format TMR Curr Value, Set Value Set Value: Register (M000-M499), Decimal (0-65535) Curr Value: Register (M000-M259) Set Value...
Page 160 12.2 Instruction Description Ladder Program Example The timer is reset when the NX100 power is turned on. Therefore, Curr Value becomes Set Value by the reset function even if the NX100 power is turned on in the ON state of the timer start input.
Page 161 12.2 Instruction Description Powering on the NX100 resets the counter. Consequently, the Curr Value remains as the Set Value by the reset function even if the counter input is in the ON state when the NX100 power is on. Reset Input Curr Value CNT Contact Set Value...
Page 162 12.2 Instruction Description GSTR Instruction / GOUT Instruction Format GSTR #XXXX0 GOUT #XXXX0 #XXXX0: 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 number (8 bits).
Page 163 12.2 Instruction Description Input (#70010) Output (#70100) 1Scan PLF Instruction Format PLF #XXXXX #XXXXX: Relay No. Function The PLF instruction outputs one scanning pulse signal when specified signal is turned to OFF from ON. Ladder Program Example NOTE The output cannot be done to the same relay two or more times. <Ladder Diagram>...
Page 164 12.2 Instruction Description ADD Instruction Format ADD S1, S2, D S1: Source 1 Register (M000-M499) Decimal (0-65535) S1: Source 2 Register (M000-M499) Decimal (0-65535) D: Destination Register (M000-M299) Function S1 and S2 (16 bits unsigned binary data) are added and the addition result is output to D when the input signal is in ON state.
Page 165 12.2 Instruction Description SUB Instruction Format SUB S1, S2, D S1: Source 1 Register (M000-M499) Decimal (0-65535) S1: Source 2 Register (M000-M499) Decimal (0-65535) D: Destination Register (M000-M299) Function S1 and S2 (16 bits unsigned binary data) are subtracted and the subtraction result is output to D when input signal is in ON state.
Page 166 12.2 Instruction Description MUL Instruction Format MUL S1, S2, D S1: Source 1 Register (M000-M499) Decimal (0-65535) S1: Source 2 Register (M000-M499) Decimal (0-65535) (High), D : Destination Register (M000-M299) 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 in ON state.
Page 167 12.2 Instruction Description DIV Instruction Format DIV S1, S2, D S1: Source 1 Register (M000-M499) Decimal (0-65535) S1: Source 2 Register (M000-M499) Decimal (0-65535) D: Destination (Quotient) Register (M000-M299) Function S1 and S2 (16 bits unsigned binary data) are divided and the division result is output (Quotient) to D when the input signal is in ON state.
Page 168 12.2 Instruction Description MOD Instruction Format MOD S1, S2, D S1: Source 1 Register (M000-M499) Decimal (0-65535) S1: Source 2 Register (M000-M499) Decimal (0-65535) D: Destination (Residuum) Register (M000-M299) Function S1 and S2 (16 bits unsigned binary data) are divided and the division result (Residuum) output to D when the input signal is in ON state.
Page 169 12.2 Instruction Description BIN Instruction Format BIN S, D S: Source Register (M000-M499) Relay (byte) #XXXX0 Relay (word) W#XXXX0 D: Destination Register (M000-M299) Relay (byte) #XXXX0 Relay (word) W#XXXX0 Function S (BCD data) is converted to binary data and is output to D when the input signal is in ON state.
Page 170 12.2 Instruction Description BCD Instruction Format BCD S, D S: Source Register (M000-M499) Relay (byte) #XXXX0 Relay (word) W#XXXX0 D: Destination Register (M000-M299) Relay (byte) #XXXX0 Relay (word) W#XXXX0 Function S (binary data) is converted to BCD data and is output to D when the input signal is in ON state.
Page 171 12.2 Instruction Description MOV Instruction Format MOV S, D S: Source Register (M000-M499) Decimal (0-65535) Relay (byte) #XXXX0 Relay (word) W#XXXX0 D: Destination Register (M000-M299) Relay (byte) #XXXX0 Relay (word) W#XXXX0 Function S is output to D in ON state of the input signal. As a result of calculation, the carry flag (#50640) of a specific output is changed.
Page 172 12.2 Instruction Description WAND Instruction Format WAND S1, S2, D S1: Source Register (M000-M499) S2: Source Decimal (0-65535) Relay (byte) #XXXX0 Relay (word) W#XXXX0 D: Destination Register (M000-M299) Relay (byte) #XXXX0 Relay (word) W#XXXX0 Function Logical AND operation between S1 and S2 is performed and the result is output to D when the input signal is in ON state.
Page 173 12.2 Instruction Description WOR Instruction Format WOR S1, S2, D S1: Source Register (M000-M499) S2: Source Decimal (0-65535) Relay (byte) #XXXX0 Relay (word) W#XXXX0 D: Destination Register (M000-M299) Relay (byte) #XXXX0 Relay (word) W#XXXX0 Function Logical OR operation between S1 and S2 is performed and the result is output to D when the input signal is in ON state.
Page 174 12.2 Instruction Description WXOR Instruction Format WXOR S1, S2, D S1: Source Register (M000-M499) S2: Source Decimal (0-65535) Relay (byte) #XXXX0 Relay (word) W#XXXX0 D: Destination Register (M000-M299) Relay (byte) #XXXX0 Relay (word) W#XXXX0 Function Exclusive OR operation between S1 and S2 is performed and the result is output to D when the input signal is in ON state.
Page 175 12.2 Instruction Description WNOT Instruction Format WNOT S, D S: Source Register (M000-M499) Decimal (0-65535) Relay (byte) #XXXX0 Relay (word) W#XXXX0 D: Destination Register (M000-M299) Relay (byte) #XXXX0 Relay (word) W#XXXX0 Function Logical negation operation of S is performed and the result is output to D when the input signal is in ON state.
Page 176 12.2 Instruction Description SHL Instruction Format SHL S, n, D S: Source Register (M000-M499) Decimal (0-65535) Relay (byte) #XXXX0 Relay (word) W#XXXX0 n: Shift count Decimal (0-16) D: Destination Register (M000-M299) Relay (byte) #XXXX0 Relay (word) W#XXXX0 Function 16 bits data contents of S is shifted to the high bit direction (left) n times and the result is output to D when the input signal is in ON state.
Page 177 12.2 Instruction Description SHR Instruction Format SHR S, n, D S: Source Register (M000-M499) Decimal (0-65535) Relay (byte) #XXXX0 Relay (word) W#XXXX0 n: Shift count Decimal (0-16) D: Destination Register (M000-M299) Relay (byte) #XXXX0 Relay (word) W#XXXX0 Function 16 bits data contents of S is shifted to the low bit direction (right) n times and the result is output to D when the input signal is in ON state.
Page 178 12.2 Instruction Description ROL Instruction Format ROL S, n, D S: Source Register (M000-M499) Decimal (0-65535) Relay (byte) #XXXX0 Relay (word) W#XXXX0 n: Shift count Decimal (0-16) D: Destination Register (M000-M299) Relay (byte) #XXXX0 Relay (word) W#XXXX0 Function 16 bits data contents of S is shifted to the high bit direction (left) n times and the result is output to D when the input signal is in ON state.
Page 179 12.2 Instruction Description ROR Instruction Format ROR S, n, D S: Source Register (M000-M499) Decimal (0-65535) Relay (byte) #XXXX0 Relay (word) W#XXXX0 n: Shift count Decimal (0-16) D: Destination Register (M000-M299) Relay (byte) #XXXX0 Relay (word) W#XXXX0 Function 16 bits data contents of S is shifted to the low bit direction (right) n times and the result is output to D when the input signal is in ON state.
Page 180 12.3 Arithmetic Flag 12.3 Arithmetic Flag Flag Type The arithmetic flag is a signal to reflect calculation result in the operation of the following steps. There are three types of flags. These flags are allocated to the following specific outputs. •...
Page 181 12.4 Arc Welding 12.4 Arc Welding Ladder Program List System ladder section differs according to the version. Check the version of the software NOTE used for the NX100. System Ladder Section These system ladders are for the software versions before NS3.97.00A ( ) -00.
Page 182 12.4 Arc Welding GAS SHORTAGE #21270 #50780 #50782 #70067 #70042 WIRE SHORTAGE #21271 #50780 #50781 #70067 #70043 ARC SHORTAGE #21272 #70067 #70041 #70154 ARC OCCURRENCE CHECK #21273 #70040 WIRE STICKING DETECTION #21274 #70044 REMOTE SELECT #80011 #70025 #70026 IO PROHIBIT #70025 #82014 #40057...
Page 183 12.4 Arc Welding SYSTEM RESERVED #70016 #70016 SYSTEM RESERVED #70016 #70015 M219 #70015 OPERATION #50070 #50220 #50073 #70020 CONTINUING #70125 #70125 MOTOR STOP MEMORY #70060 #70061 #70066 #70047 #70047 #70050 MOTOR DIRECTION CHANGE PERMIT #70047 #70050 M464 M254 MOTOR DIRECTION CHANGE PROHIBIT #70047 #70050...
Page 184 12.4 Arc Welding ARC OCCURRENCE CONDITION CYCLE #50050 #70062 #70086 #70124 #70021 #70064 #70064 ARC OCCURRENCE CONDITION MODE #50053 #50064 #70046 #50264 #50260 #70065 ARC OCCURRENCE CONDITION MODE OK #70064 #70065 #70054 #70066 WORK TIME MEASURE #70066 #40572 WIRE STICKING CHECK COMPLETED AT ARCRESPONSE ERROR #70067 #70083...
Page 185 12.4 Arc Welding ARC STICKING CHECK #70072 #70066 #70073 REQUEST #70067 ARC MISSING #70073 #70062 #70063 #70063 #40014 #50053 AUTOMATIC WIRE STICKING #70066 #70085 RELEASE COUNT UP M467 M257 #70084 WIRE STICKING DETECTION (AT OFF/ERROR) #70066 #70044 #70074 #70067 RETRY COUNT UP #40575 #70095 M465...
Page 186 12.4 Arc Welding WIRE STICKING #70074 #70082 #70075 (AT OFF) M461 M251 WIRE STICKING (AT ON) #50053 #50220 #70074 #70084 #70076 WIRE STICKING #70076 #70074 #70077 (AT ON/OFF) #70075 #70077 WIRE STICKING (FINAL) #70077 #70085 #70080 #70074 #70076 #70080 NO WIRE STICKING #70074 #70082 #70081...
Page 187 12.4 Arc Welding WIRE SHORTAGE MESSAGE #70123 #50782 #70043 #70107 CONDITION #50783 #70097 #70104 #70107 WIRE SHORTAGE MESSAGE CONDITION WAITING 2 #70122 #70123 WIRE SHORTAGE MESSAGE CONDITION WAITING 1 #40582 #70122 GAS SHORTAGE ALARM CONDITION #50781 #70102 #70110 #70042 #50070 #70110 WIRE SHORTAGE ALARM CONDITION...
Page 188 12.4 Arc Welding System Ladder Section (Software version: NS3.97.00A ( ) -00 or later) GAS SHORTAGE #21270 #50780 #50782 #70067 #70042 G SHORT A RESTART W RESTART A RESPERR SUB G SHORT WIRE SHORTAGE #21271 #50780 #50781 #70067 #70043 A RESTART G RESTART A RESPERR SUB W SHORT W SHORT...
Page 189 12.4 Arc Welding START RECEIVING PREPARATION OK #50054 #50073 #50014 #70020 #70011 PLAY MODE SET SV ON ERROR ALM OCCR STARTOK EXTERNAL START #70010 #50073 #40044 EX START SV ON EX START CONTROL POWER ON COMPLETED #70017 #70017 (NORMALITY ON) POWER ON POWER ON #70017...
Page 190 12.4 Arc Welding WIRE RETRACT REQUEST #11287 #50053 #50070 #70057 RETRACT TEACH MODE RUNNING RETRACT REQ M213 W RETRCT REQ #50070 #11287 RUNNING RETRACT #50776 RETRACT WIRE INCHING #70062 #70056 #70057 #70054 #70060 ARCON INTERVAL INCHING REQ RETRACT REQ MOT FWD ROT PMT INCHING #50070 RUNNING...
Page 191 12.4 Arc Welding ARC OCCURRENCE #70054 CONDITION MODE OK #70040 #70064 #70065 #70066 MOT FWD ROT PMT A OCCR COND OK ARC OCCR ARC OCCR A OCCR COND CY COND MODE #70066 A OCCR COND OK WORK TIME MEASURE #70066 #40572 TIME MEASURE A OCCR COND OK...
Page 192 12.4 Arc Welding ARC RETRY PROCESSING #70094 #70096 RETRY RETRYING PROCESSING #70092 RETRY REQ MEM #40576 RETRY RET REQ #50777 RETRY RTRN ARC RESPONSE ERROR OUTPUT #70096 #70091 #70090 RETRYING A RESPERR FIN A RESPERR OUT ARC RESPONSE ERROR (SUB) #70070 #70066 #50783...
Page 193 12.4 Arc Welding SYSTEM SECTION #70091 #40130 ALARM CODE d0 S ALM d0 A RESPERR #70111 W SHRTG ALM COND SYSTEM SECTION ALARM CODE d1 #70105 #70091 #40131 A ALM COND A RESPERR OUT S ALM d1 SYSTEM SECTION ALARM CODE d2 #70091 #70105 #70110...
Page 194 12.4 Arc Welding SYSTEME SECTION #70115 MESSAGE REQUEST #40011 RESTA MS S MSG REQ INVLD #50780 A RESTART #50781 G RESTART #50782 W RESTART #70100 A RESTART #70156 ARC CONF RLY STICK #70130 TEST RUN ARCON SEL (MANAG) #70131 TEST RUN ARCON SEL (OP.&...
Page 195 12.4 Arc Welding WIRE STICKING CHECK #70073 #70082 M463 STICK CK STICK CK REQ 0.3 sec M253 ANTI STICK WIRE STICKING CHECK COMPLETED #70075 #70134 #70083 STICKING MOV STICK STICKING CKD AT OFF #70081 #70133 NO STICK MOV STICK #70135 NO STICK (MOV CHK) #70137...
Page 196 12.4 Arc Welding GAS SHORTAGE MESSAGE CONDITION WAITING 2 #70120 #70121 G MSG W2 G MSG W1 GAS SHORTAGE MESSAGE CONDITION WAITING 1 #40581 #70120 G MSG W1 G RESTA REQ WIRE SHORTAGE MESSAGE CONDITION #70123 #50782 #70107 #70043 W MSG W2 W RESTART W SHORT W SHRTG MSG COND #50783...
Page 197 12.4 Arc Welding RESTART MEMORY #70103 #70097 #40583 #70110 #70111 #70102 RESTART MEM RESTARTING RESTA RESTART G SHRTG W SHRTG RTRN MEM RESET ALM COND ALM COND RESTART INVALID #70103 #70104 M466 RESTARTING RESTA INVLD 1 TIME M256 RESTART VAL #70062 ARCON INTERVAL #70096...
Page 198 12.4 Arc Welding 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 #20010 #70010 EX START EX START MASTER JOB CALL #20012 #40030 MST JOB CAL MST JOB CAL...
Page 199 12.4 Arc Welding WORK HOME POSITION (IN CUBE 32) #50117 #30022 INTER32 WORK HOME POS SEQUENCE EXECUTING #50220 #30023 S CONT JOB A SEQ EXE GAS SHORTAGE (MONITOR) #21270 #30024 G SHORT (MON) G SHORT (MON) WIRE SHORTAGE (MONITOR) #30025 #21271 W SHORT (MON) W SHORT (MON)
Page 200 12.4 Arc Welding #20170 #00150 #20180 #00160 #20190 #00170 #20200 #00180 #20210 #00190 #20220 #00200 #20230 #00210 #20240 #00220 #20250 #00230 #20260 #00240 #20270 #00250 #20280 #00260 #20290 #00270 #20300 #00280 #20310 #00290 #20320 #00300 #20330 #00310 #20340 #00320 12-52...
Page 201 12.4 Arc Welding #20350 #00330 #20360 #00340 #20370 #00350 #20380 #00360 #20390 #00370 #20400 #00380 #20410 #00390 #20420 #00400 #20430 #00410 #20440 #00420 #20450 #00430 #20460 #00440 #20470 #00450 #20480 #00460 #20490 #00470 #20500 #00480 #20510 #00490 #20520 #00500 12-53...
Page 202 12.4 Arc Welding #20530 #00510 #20540 #00520 #20550 #00530 #20560 #00540 #20570 #00550 #20580 #00560 #20590 #00570 #20600 #00580 #20610 #00590 #20620 #00600 #20630 #00610 #20640 #00620 #20650 #00630 #20660 #00640 #20670 #00650 #20680 #00660 #20690 #00670 #20700 #00680 12-54...
Page 203 12.4 Arc Welding #20710 #00690 #20720 #00700 #20730 #00710 #20740 #00720 #20750 #00730 #20760 #00740 #20770 #00750 #20780 #00760 #20790 #00770 #20800 #00780 #20810 #00790 #20820 #00800 #20830 #00810 #20840 #00820 #20850 #00830 #20860 #00840 #20870 #00850 #20880 #00860 12-55...
Page 204 12.4 Arc Welding #20890 #00870 #20900 #00880 #20910 #00890 #20920 #00900 #20930 #00910 #20940 #00920 #20950 #00930 #20960 #00940 #20970 #00950 #20980 #00960 #20990 #00970 #21000 #00980 #21010 #00990 #21020 #01000 #21030 #01010 #21040 #01020 #21050 #01030 #21060 #01040 12-56...
Page 205 12.4 Arc Welding #21070 #01050 #21080 #01060 #21090 #01070 #21100 #01080 #21110 #01090 #21120 #01100 #21130 #01110 #21140 #01120 #21150 #01130 #21160 #01140 #21170 #01150 #21180 #01160 #21190 #01170 #21200 #01180 #10010 #30030 #10020 #30040 #10030 #30050 #10040 #30060 12-57...
Page 206 12.4 Arc Welding #10050 #30070 #10060 #30080 #10070 #30090 #10080 #30100 #10090 #30110 #10100 #30120 #10110 #30130 #10120 #30140 #10130 #30150 #10140 #30160 #10150 #30170 #10160 #30180 #10170 #30190 #10180 #30200 #10190 #30210 #10200 #30220 #10210 #30230 #10220 #30240 12-58...
Page 207 12.4 Arc Welding #10230 #30250 #10240 #30260 #10250 #30270 #10260 #30280 #10270 #30290 #10280 #30300 #10290 #30310 #10300 #30320 #10310 #30330 #10320 #30340 #10330 #30350 #10340 #30360 #10350 #30370 #10360 #30380 #10370 #30390 #10380 #30400 #10390 #30410 #10400 #30420 12-59...
Page 208 12.4 Arc Welding #10410 #30430 #10420 #30440 #10430 #30450 #10440 #30460 #10450 #30470 #10460 #30480 #10470 #30490 #10480 #30500 #10490 #30510 #10500 #30520 #10510 #30530 #10520 #30540 #10530 #30550 #10540 #30560 #10550 #30570 #10560 #30580 #10570 #30590 #10580 #30600 12-60...
Page 209 12.4 Arc Welding #10590 #30610 #10600 #30620 #10610 #30630 #10620 #30640 #10630 #30650 #10640 #30660 #10650 #30670 #10660 #30680 #10670 #30690 #10680 #30700 #10690 #30710 #10700 #30720 #10710 #30730 #10720 #30740 #10730 #30750 #10740 #30760 #10750 #30770 #10760 #30780 12-61...
Page 210 12.4 Arc Welding #10770 #30790 #10780 #30800 #10790 #30810 #10800 #30820 #10810 #30830 #10820 #30840 #10830 #30850 #10840 #30860 #10850 #30870 #10860 #30880 #10870 #30890 #10880 #30900 #10890 #30910 #10900 #30920 #10910 #30930 #10920 #30940 #10930 #30950 #10940 #30960 12-62...
Page 211 12.4 Arc Welding #10950 #30970 #10960 #30980 #10970 #30990 #10980 #31000 #10990 #31010 #11000 #31020 #11010 #31030 #11020 #31040 #11030 #31050 #11040 #31060 #11050 #31070 #11060 #31080 #11070 #31090 #11080 #31100 #11090 #31110 #11100 #31120 #11110 #31130 #11120 #31140 12-63...
Page 212 12.4 Arc Welding #11130 #31150 #11140 #31160 #11150 #31170 #11160 #31180 #11170 #31190 #11180 #31200 12-64...
Page 213 12.4 Arc Welding I/O Alarm Alarm No. Register No. I/O Alarm Message System Sec- tion 9000 9001 MISSING ARC GENERATION CON- FIRM 9002 ARC SHORTAGE 9003 9004 GAS SHORTAGE (RESTART) 9005 WIRE SHORTAGE (RESTART) 9006 9007 9008 WELDER MALFUNCTION 9009 9010 9011 9012...
Page 214 12.4 Arc Welding I/O Message Register No. I/O Message System Sec- tion WIRE STICK/ SHORT GAS SHORTAGE WIRE SHORTAGE RESTARTING FOR ARC RESTARTING FOR GAS RESTARTING FOR WIRE END OF ARC RESTARTING ARC CONFIRM RELAY STICKING ARC OCCUR AT TEST RUN VALID ONLY IN MANAGEMENT MODE (WELD ON) User Section...
Page 215 12.4 Arc Welding 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. SYSTEM LADDER SECTION (EDITING IMPOSSIBLE) WIRE INCHING REQUEST 70056 DOUT OT#(1023)ON...
Page 216 I/O ladder so that the signals can be connected to the welder’s input signals for gas flow control. An example of connection with one of the YASKAWA’s digital welder MOTOWELD-E series is shown below:...
Page 217 12.5 Handling 12.5 Handling LADDER PROGRAM LIST System Ladder Section Standard ladders are prepared for each application prior to shipment. Ladder programs cannot be edited. SYSTEM SECTION ALARM REQUEST #70054 #50053 #40010 EXTERNAL HOLD #70053 #40067 #70022 SYSTEM SECTION #50776 #50777 #50053 #40150...
Page 218 12.5 Handling IN CUBE 1 #50080 #70021 #70034 IN CUBE 2 #50081 #70021 #70035 IN CUBE 3 #50082 #70021 #70036 IN CUBE 4 #50083 #70021 #70037 IN CUBE 5 #70044 #50084 #70021 IN CUBE 6 #70045 #50085 #70021 IN CUBE 7 #50086 #70021 #70046...
Page 219 12.5 Handling 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 #40044 #20010 #50073 MASTER JOB CALL #40030 #20012 ALARM/ERROR RESET #20013 #40014 PLAY MODE SELECT #40041...
Page 220 12.5 Handling TOOL VALVE 4-1 #30056 #50786 TOOL VALVE 4-2 #30057 #50787 #20030 #00010 #20040 #00020 #20060 #00030 #20070 #00040 #20080 #00050 #20090 #00060 #20100 #00070 #20110 #00080 #20120 #00090 #20130 #00100 #20140 #00110 #20150 #00120 #20160 #00130 #20170 #00140 #20180 #00150 #20190...
Page 221 12.5 Handling #20210 #00180 #20220 #00190 #20230 #00200 #20240 #00210 #20250 #00220 #20260 #00230 #20270 #00240 #20280 #00250 #20290 #00260 #20300 #00270 #20310 #00280 #20320 #00290 #20330 #00300 #20340 #00310 #20350 #00320 #20360 #00330 #20370 #00340 #20380 #00350 12-73...
Page 222 12.5 Handling #20390 #00360 #20400 #00370 #20410 #00380 #20420 #00390 #20430 #00400 #20440 #00410 #20450 #00420 #20460 #00430 #20470 #00440 #20480 #00450 #20490 #00460 #20500 #00470 #20510 #00480 #20520 #00490 #20530 #00500 #20540 #00510 #20550 #00520 #20560 #00530 12-74...
Page 223 12.5 Handling #20570 #00540 #20580 #00550 #20590 #00560 #20600 #00570 #20610 #00580 #20620 #00590 #20630 #00600 #20640 #00610 #20650 #00620 #20660 #00630 #20670 #00640 #20680 #00650 #20690 #00660 #20700 #00670 #20710 #00680 #20720 #00690 #20730 #00700 #20740 #00710 12-75...
Page 224 12.5 Handling #20750 #00720 #20760 #00730 #20770 #00740 #20780 #00750 #20790 #00760 #20800 #00770 #20810 #00780 #20820 #00790 #20830 #00800 #20840 #00810 #20850 #00820 #20860 #00830 #20870 #00840 #20880 #00850 #20890 #00860 #20900 #00870 #20910 #00880 #20920 #00890 12-76...
Page 225 12.5 Handling #20930 #00900 #20940 #00910 #20950 #00920 #20960 #00930 #20970 #00940 #20980 #00950 #20990 #00960 #21000 #00970 #21010 #00980 #21020 #00990 #21030 #01000 #21040 #01010 #21050 #01020 #21060 #01030 #21070 #01040 #21080 #01050 #21090 #01060 #21100 #01070 12-77...
Page 226 12.5 Handling #21110 #01080 #21120 #01090 #21130 #01100 #21140 #01110 #21150 #01120 #21160 #01130 #21170 #01140 #21180 #01150 #21190 #01160 #21200 #01170 #21210 #01180 #21220 #01190 #21230 #01200 #21240 #01210 #21250 #01220 #21260 #01230 #21270 #01240 #21280 #01250 12-78...
Page 227 12.5 Handling #10010 #30030 #10020 #30040 #10030 #30060 #10040 #30070 #10050 #30080 #10060 #30090 #10070 #30100 #10080 #30110 #10090 #30120 #10100 #30130 #10110 #30140 #10120 #30150 #10130 #30160 #10140 #30170 #10150 #30180 #10160 #30190 #10170 #30200 #10180 #30210 12-79...
Page 228 12.5 Handling #10190 #30220 #10200 #30230 #10210 #30240 #10220 #30250 #10230 #30260 #10240 #30270 #10250 #30280 #10260 #30290 #10270 #30300 #10280 #30310 #10290 #30320 #10300 #30330 #10310 #30340 #10320 #30350 #10330 #30360 #10340 #30370 #10350 #30380 #10360 #30390 12-80...
Page 229 12.5 Handling #10370 #30400 #10380 #30410 #10390 #30420 #10400 #30430 #10410 #30440 #10420 #30450 #10430 #30460 #10440 #30470 #10450 #30480 #10460 #30490 #10470 #30500 #10480 #30510 #10490 #30520 #10500 #30530 #10510 #30540 #10520 #30550 #10530 #30560 #10540 #30570 12-81...
Page 230 12.5 Handling #10550 #30580 #10560 #30590 #10570 #30600 #10580 #30610 #10590 #30620 #10600 #30630 #10610 #30640 #10620 #30650 #10630 #30660 #10640 #30670 #10650 #30680 #10660 #30690 #10670 #30700 #10680 #30710 #10690 #30720 #10700 #30730 #10710 #30740 #10720 #30750 12-82...
Page 231 12.5 Handling #10730 #30760 #10740 #30770 #10750 #30780 #10760 #30790 #10770 #30800 #10780 #30810 #10790 #30820 #10800 #30830 #10810 #30840 #10820 #30850 #10830 #30860 #10840 #30870 #10850 #30880 #10860 #30890 #10870 #30900 #10880 #30910 #10890 #30920 #10900 #30930 12-83...
Page 232 12.5 Handling #10910 #30940 #10920 #30950 #10930 #30960 #10940 #30970 #10950 #30980 #10960 #30990 #10970 #31000 #10980 #31010 #10990 #31020 #11000 #31030 #11010 #31040 #11020 #31050 #11030 #31060 #11040 #31070 #11050 #31080 #11060 #31090 #11070 #31100 #11080 #31110 12-84...
Page 233 12.5 Handling #11090 #31120 #11100 #31130 #11110 #31140 #11120 #31150 #11130 #31160 #11140 #31170 #11150 #31180 #11160 #31190 #11170 #31200 #11180 #31210 #11190 #31220 #11200 #31230 #11210 #31240 #11220 #31250 #11230 #31260 #11240 #31270 #11250 #31280 12-85...
Page 234 12.5 Handling I/O ALARM Alarm No. Register No. I/O Alarm Message System Sec- tion 9000 AIR PRESSURE LOWERED 9001 9002 9003 9004 9005 9006 9007 9008 9009 9010 9011 9012 9013 9014 9015 9016 9017 9018 9019 9020 9021 9063 User Section 9064 9065...
Page 235 12.5 Handling 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 12-87...
Page 236 12.6 Spot Welding 12.6 Spot Welding Ladder Program List System Ladder Section Standard ladders are prepared for each application prior to shipment. Ladder programs cannot be edited. REMOTE SELECT #70025 #80011 IO PROHIBITED #70025 #82014 #40057 #70025 CMD REMOTE MODE #40042 SELECT #70025...
Page 237 12.6 Spot Welding TIMER COOLING WATER ALARM #70050 #50070 #50064 #50054 #70041 #70080 GUN COOLING WATER #70081 ALARM #70054 #50070 #50064 #50054 #70041 TRANS. THERMO. ALARM #70060 #50070 #50064 #50054 #70041 #70082 LOWERED AIR PRESSURE #70083 ALARM #70064 #50070 #50064 #50054 #70041 TIMER WATER COOLING...
Page 238 12.6 Spot Welding 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 #70010 #20010 MASTER JOB CALL #20012 #40030 ALARM/ERROR RESET #40014 #20013 PLAY MODE SELECT #20015...
Page 239 12.6 Spot Welding IN011 #00022 #20052 #82022 IN012 #20053 #82023 #00023 IN013 #20054 #00024 IN014 #20055 #00025 IN015 #00026 #20056 IN016 #00027 #20057 #20040 #00030 #20060 #00040 #20070 #00050 #20080 #00060 #20090 #00070 #20100 #00080 #20110 #00090 #20120 #00100 #20130 #00110 #20140 #00120...
Page 240 12.6 Spot Welding #20200 #00180 #20210 #00190 #20220 #00200 #20230 #00210 #20240 #00220 #20250 #00230 #20260 #00240 #20270 #00250 #20280 #00260 #20290 #00270 #20300 #00280 #20310 #00290 #20320 #00300 #20330 #00310 #20340 #00320 #20350 #00330 #20360 #00340 #20370 #00350 12-92...
Page 241 12.6 Spot Welding #20380 #00360 #20390 #00370 #20400 #00380 #20410 #00390 #20420 #00400 #20430 #00410 #20440 #00420 #20450 #00430 #20460 #00440 #20470 #00450 #20480 #00460 #20490 #00470 #20500 #00480 #20510 #00490 #20520 #00500 #20530 #00510 #20540 #00520 #20550 #00530 12-93...
Page 242 12.6 Spot Welding #20560 #00540 #20570 #00550 #20580 #00560 #20590 #00570 #20600 #00580 #20610 #00590 #20620 #00600 #20630 #00610 #20640 #00620 #20650 #00630 #20660 #00640 #20670 #00650 #20680 #00660 #20690 #00670 #20700 #00680 #20710 #00690 #20720 #00700 #20730 #00710 12-94...
Page 243 12.6 Spot Welding #20740 #00720 #20750 #00730 #20760 #00740 #20770 #00750 #20780 #00760 #20790 #00770 #20800 #00780 #20810 #00790 #20820 #00800 #20830 #00810 #20840 #00820 #20850 #00830 #20860 #00840 #20870 #00850 #20880 #00860 #20890 #00870 #20900 #00880 #20910 #00890 12-95...
Page 244 12.6 Spot Welding #20920 #00900 #20930 #00910 #20940 #00920 #20950 #00930 #20960 #00940 #20970 #00950 #20980 #00960 #20990 #00970 #21000 #00980 #21010 #00990 #21020 #01000 #21030 #01010 #21040 #01020 #21050 #01030 #21060 #01040 #21070 #01050 #21080 #01060 #21090 #01070 12-96...
Page 245 12.6 Spot Welding #21100 #01080 #21110 #01090 #21120 #01100 #21130 #01110 #21140 #01120 #21150 #01130 #21160 #01140 #21170 #01150 #21180 #01160 #21190 #01170 #21200 #01180 #21210 #01190 #21220 #01200 #21230 #01210 #21240 #01220 #21250 #01230 #21260 #01240 #21270 #01250 12-97...
Page 246 12.6 Spot Welding #21280 #01260 #10010 #30030 WELDING ON/OFF #30050 OT009 #10020 #82024 #70070 #82024 WELDING ERROR RESET (OT010) #10021 #30051 WELDING CONDITION 1 #30052 (OT011) #10022 WELDING CONDITION 2 #30053 (OT012) #10023 WELDING CONDITION 3 #30054 (OT013) #10024 WELDING CONDITION 4 #30055 (OT014) #10025...
Page 247 12.6 Spot Welding #10150 #30170 #10160 #30180 #10170 #30190 #10180 #30200 #10190 #30210 #10200 #30220 #10210 #30230 #10220 #30240 #10230 #30250 #10240 #30260 #10250 #30270 #10260 #30280 #10270 #30290 #10280 #30300 12-99...
Page 248 12.6 Spot Welding #10290 #30310 #10300 #30320 #10310 #30330 #10320 #30340 #10330 #30350 #10340 #30360 #10350 #30370 #10360 #30380 #10370 #30390 #10380 #30400 #10390 #30410 #10400 #30420 #10410 #30430 #10420 #30440 #10430 #30450 #10440 #30460 #10450 #30470 #10460 #30480 12-100...
Page 249 12.6 Spot Welding #10470 #30490 #10480 #30500 #10490 #30510 #10500 #30520 #10510 #30530 #10520 #30540 #10530 #30550 #10540 #30560 #10550 #30570 #10560 #30580 #10570 #30590 #10580 #30600 #10590 #30610 #10600 #30620 #10610 #30630 #10620 #30640 #10630 #30650 #10640 #30660 12-101...
Page 250 12.6 Spot Welding #10650 #30670 #10660 #30680 #10670 #30690 #10680 #30700 #10690 #30710 #10700 #30720 #10710 #30730 #10720 #30740 #10730 #30750 #10740 #30760 #10750 #30770 #10760 #30780 #10770 #30790 #10780 #30800 #10790 #30810 #10800 #30820 #10810 #30830 #10820 #30840 12-102...
Page 251 12.6 Spot Welding #10830 #30850 #10840 #30860 #10850 #30870 #10860 #30880 #10870 #30890 #10880 #30900 #10890 #30910 #10900 #30920 #10910 #30930 #10920 #30940 #10930 #30950 #10940 #30960 #10950 #30970 #10960 #30980 #10970 #30990 #10980 #31000 #10990 #31010 #11000 #31020 12-103...
Page 252 12.6 Spot Welding #11010 #31030 #11020 #31040 #11030 #31050 #11040 #31060 #11050 #31070 #11060 #31080 #11070 #31090 #11080 #31100 #11090 #31110 #11100 #31120 #11110 #31130 #11120 #31140 #11130 #31150 #11140 #31160 #11150 #31170 #11160 #31180 #11170 #31190 #11180 #31200 12-104...
Page 253 12.6 Spot Welding #11190 #31210 #11200 #31220 #11210 #31230 #11220 #31240 #11230 #31250 #11240 #31260 #11250 #31270 #11260 #31280 12-105...
Page 254 12.6 Spot Welding I/O Alarm Alarm No. Register No. I/O Alarm Message System Sec- tion 9000 ERR OF WELD TIMER COOLING WATER 9001 ERROR OF GUN COOLING WATER 9002 ERROR IN TRANSTHERMO OF GUN 9003 AIR PRESSURE LOWERED 9004 9005 9006 9007 9008...
Page 255 12.6 Spot Welding 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 WELDING User Section 12-107...
Page 256 12.7 General-Purpose Applications 12.7 General-Purpose Applications LADDER PROGRAM LIST System Ladder Section Standard ladders are prepared for each application prior to shipment. Ladder programs cannot be edited. REMOTE SELECT #70025 #80011 IO PROHIBIT #70025 #82014 #40057 #70025 CMD REMOTE MODE #40042 SELECT #70025...
Page 257 12.7 General-Purpose Applications 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 #20010 #70010 MASTER JOB CALL #40030 #20012 ALARM/ERROR RESET #40014 #20013 PLAY MODE SELECT #20015...
Page 258 12.7 General-Purpose Applications #20080 #00060 #20090 #00070 #20100 #00080 #20110 #00090 #20120 #00100 #20130 #00110 #20140 #00120 #20150 #00130 #20160 #00140 #20170 #00150 #20180 #00160 #20190 #00170 #20200 #00180 #20210 #00190 #20220 #00200 #20230 #00210 #20240 #00220 #20250 #00230 12-110...
Page 259 12.7 General-Purpose Applications #20260 #00240 #20270 #00250 #20280 #00260 #20290 #00270 #20300 #00280 #20310 #00290 #20320 #00300 #20330 #00310 #20340 #00320 #20350 #00330 #20360 #00340 #20370 #00350 #20380 #00360 #20390 #00370 #20400 #00380 #20410 #00390 #20420 #00400 #20430 #00410 12-111...
Page 260 12.7 General-Purpose Applications #20440 #00420 #20450 #00430 #20460 #00440 #20470 #00450 #20480 #00460 #20490 #00470 #20500 #00480 #20510 #00490 #20520 #00500 #20530 #00510 #20540 #00520 #20550 #00530 #20560 #00540 #20570 #00550 #20580 #00560 #20590 #00570 #20600 #00580 #20610 #00590 12-112...
Page 261 12.7 General-Purpose Applications #20620 #00600 #20630 #00610 #20640 #00620 #20650 #00630 #20660 #00640 #20670 #00650 #20680 #00660 #20690 #00670 #20700 #00680 #20710 #00690 #20720 #00700 #20730 #00710 #20740 #00720 #20750 #00730 #20760 #00740 #20770 #00750 #20780 #00760 #20790 #00770 12-113...
Page 262 12.7 General-Purpose Applications #20800 #00780 #20810 #00790 #20820 #00800 #20830 #00810 #20840 #00820 #20850 #00830 #20860 #00840 #20870 #00850 #20880 #00860 #20890 #00870 #20900 #00880 #20910 #00890 #20920 #00900 #20930 #00910 #20940 #00920 #20950 #00930 #20960 #00940 #20970 #00950 12-114...
Page 263 12.7 General-Purpose Applications #20980 #00960 #20990 #00970 #21000 #00980 #21010 #00990 #21020 #01000 #21030 #01010 #21040 #01020 #21050 #01030 #21060 #01040 #21070 #01050 #21080 #01060 #21090 #01070 #21100 #01080 #21110 #01090 #21120 #01100 #21130 #01110 #21140 #01120 #21150 #01130 12-115...
Page 264 12.7 General-Purpose Applications #21160 #01140 #21170 #01150 #21180 #01160 #21190 #01170 #21200 #01180 #21210 #01190 #21220 #01200 #21230 #01210 #21240 #01220 #21250 #01230 #21260 #01240 #21270 #01250 #21280 #01260 #10010 #30030 #10020 #30040 #10030 #30050 #10040 #30060 #10050 #30070 12-116...
Page 265 12.7 General-Purpose Applications #10060 #30080 #10070 #30090 #10080 #30100 #10090 #30110 #10100 #30120 #10110 #30130 #10120 #30140 #10130 #30150 #10140 #30160 #10150 #30170 #10160 #30180 #10170 #30190 #10180 #30200 #10190 #30210 #10200 #30220 #10210 #30230 #10220 #30240 #10230 #30250 12-117...
Page 266 12.7 General-Purpose Applications #10240 #30260 #10250 #30270 #10260 #30280 #10270 #30290 #10280 #30300 #10290 #30310 #10300 #30320 #10310 #30330 #10320 #30340 #10330 #30350 #10340 #30360 #10350 #30370 #10360 #30380 #10370 #30390 #10380 #30400 #10390 #30410 #10400 #30420 #10410 #30430 12-118...
Page 267 12.7 General-Purpose Applications #10420 #30440 #10430 #30450 #10440 #30460 #10450 #30470 #10460 #30480 #10470 #30490 #10480 #30500 #10490 #30510 #10500 #30520 #10510 #30530 #10520 #30540 #10530 #30550 #10540 #30560 #10550 #30570 #10560 #30580 #10570 #30590 #10580 #30600 #10590 #30610 12-119...
Page 268 12.7 General-Purpose Applications #10600 #30620 #10610 #30630 #10620 #30640 #10630 #30650 #10640 #30660 #10650 #30670 #10660 #30680 #10670 #30690 #10680 #30700 #10690 #30710 #10700 #30720 #10710 #30730 #10720 #30740 #10730 #30750 #10740 #30760 #10750 #30770 #10760 #30780 #10770 #30790 12-120...
Page 269 12.7 General-Purpose Applications #10780 #30800 #10790 #30810 #10800 #30820 #10810 #30830 #10820 #30840 #10830 #30850 #10840 #30860 #10850 #30870 #10860 #30880 #10870 #30890 #10880 #30900 #10890 #30910 #10900 #30920 #10910 #30930 #10920 #30940 #10930 #30950 #10940 #30960 #10950 #30970 12-121...
Page 270 12.7 General-Purpose Applications #10960 #30980 #10970 #30990 #10980 #31000 #10990 #31010 #11000 #31020 #11010 #31030 #11020 #31040 #11030 #31050 #11040 #31060 #11050 #31070 #11060 #31080 #11070 #31090 #11080 #31100 #11090 #31110 #11100 #31120 #11110 #31130 #11120 #31140 #11130 #31150 12-122...
Page 271 12.7 General-Purpose Applications #11140 #31160 #11150 #31170 #11160 #31180 #11170 #31190 #11180 #31200 #11190 #31210 #11200 #31220 #11210 #31230 #11220 #31240 #11230 #31250 #11240 #31260 #11250 #31270 #11260 #31280 12-123...
Page 272 12.7 General-Purpose Applications I/O ALARM Alarm No. Register No. I/O Alarm Message System Sec- tion 9000 9001 9002 9003 9004 9005 9006 9007 9008 9009 9010 9011 9012 9013 9014 9015 9016 9017 9018 9019 9020 9021 9063 User Section 9064 9065 9066...
Page 273 12.7 General-Purpose Applications I/O MESSAGE Register No. I/O Message System Sec- tion User Section 12-125...
Page 274 13.1 Monitoring I/O Signals 13 How to Monitor Signals Signal status can be monitored in the windows described in the following sections. 13.1 Monitoring I/O Signals The following example shows one of the I/O monitor windows. 13.1.1 I/O Windows Operation Explanation 1 Select {IN/OUT} under the main menu.
Page 275 13.1 Monitoring I/O Signals The window shown below is the example of the Universal Output window, explaining how to read each signal. (The same applies to the signals on other windows.) DATA EDIT DISPLAY UTILITY UNIVERSAL OUTPUT #1002X 0000_0000 7654 3210 #10020 #1001X 0100_0110...
Page 276 13.2 I/O Status Window 13.2 I/O Status Window The signal status can be monitored by switching the UNIVERSAL INPUT/OUTPUT, EXTER- NAL INPUT/OUTPUT, SPECIFIED INPUT/OUTPUT windows to the I/O status window. In this window, each signal name can be monitored as well. Operation Explanation 1 Select {DISPLAY} under the...
Page 277 13.2 I/O Status Window • In the status windows "Universal Input", "External Input" and "External Output", the signal ON/OFF status can be forcibly changed. Once the status is changed, the status is main- tained unless the forced change status is cancelled. The signal name can be registered by performing the following procedure.
Page 278 13.2 I/O Status Window 13.2.1 Universal Output Window The ON-OFF status of the universal output signals can be changed by performing the following procedure. Operation Explanation 1 Select the signal status Move the cursor to the status (" " or " ") of desired signal in desired to be changed.
Page 279 13.2 I/O Status Window 13.2.2 Universal Input Window The status of the universal input signals can be changed by performing the following procedure. Operation Explanation 1 Select the signal desired to be Move the cursor to the small box " "...
Page 280 13.2 I/O Status Window Operation Explanation 3 Select the signal status. Move the cursor to the status (" " or " ") specified as "SIM". Only the signal status specified as "SIM" changes each time the [INTERLOCK] +[SELECT] keys are pressed. DATA EDIT DISPLAY...
Page 281 13.2 I/O Status Window • Perform the following check operation for safety when operating the manipulator with NOTE "SIM" (forced signal output) is remained selected for the universal input signal. If any of the universal input signal is set to "SIM", the confirmation dialog box appears when starting a job.
Page 282 13.2 I/O Status Window The "SIM" status of the universal input signal can be collectively cancelled by performing the following procedure. Operation Explanation 1 Select {EDIT} from the Menu Area. 2 Select {SELECT ALL PHY}. The forced status ( ) of all the signals is cancelled ( DATA EDIT DISPLAY...
Page 283 13.2 I/O Status Window 13.2.3 Changing Signal Status from the External Output Window The status of the external output signals can be changed by performing the following procedure. Operation Explanation 1 Select the signal desired to be Move the cursor to the small box " "...
Page 284 13.2 I/O Status Window Operation Explanation 3 Select the signal status. Move the cursor to the status (" " or " ") specified as "SIM". Only the signal status specified as "SIM" changes each time the [INTERLOCK] +[SELECT] keys are pressed. DATA EDIT DISPLAY...
Page 285 13.2 I/O Status Window • Perform the following check operation for safety when operating the manipulator with NOTE "SIM" (forced signal output) is remained selected for the universal input signal. If any of the universal input signal is set to "SIM", the confirmation dialog box appears when starting a job.
Page 286 13.2 I/O Status Window 13.2.4 Changing Signal Status from the External Input Window The status of the external input signals can be changed by performing the following procedure. Operation Explanation 1 Select the signal desired to be Move the cursor to the small box " "...
Page 287 13.2 I/O Status Window Operation Explanation 3 Select the signal status. Move the cursor to the status (" " or " ") specified as "SIM". Only the signal status specified as "SIM" changes each time the [INTERLOCK] +[SELECT] keys are pressed. DATA EDIT DISPLAY...
Page 288 13.2 I/O Status Window • Perform the following check operation for safety when operating the manipulator with NOTE "SIM" (forced signal output) is remained selected for the universal input signal. If any of the universal input signal is set to "SIM", the confirmation dialog box appears when starting a job.
Page 289 13.3 Pseudo Input Signal Window 13.3 Pseudo Input Signal Window The status and name of the pseudo input signals can be checked with this window. Operation Explanation Select {IN/OUT} under the main menu Select {PSEUDO INPUT SIG} The pseudo input signal window appears.. DATA EDIT DISPLAY...
Page 290 13.3 Pseudo Input Signal Window The signals can be turned ON/OFF in the pseudo input signal window in the management mode. Operation Explanation 1 Select the signal to be Move the cursor to the signal status to be changed. The signal changed.
Page 291 13.3 Pseudo Input Signal Window Signal name can be registered in the user section of the pseudo input signal window in the management mode. Operation Explanation 1 Select the signal name to be Move the cursor to the desired signal name to be registered, and changed.
Page 292 13.4 Register Window 13.4 Register Window The register can be checked in the register window. Operation Explanation 1 Select {IN/OUT} under the main menu. 2 Select {REGISTER}. The register window appears. DATA EDIT DISPLAY UTILITY REGISTER SET VALUE NAME M000 0000_0000_0000_0000 M001 0000_0000_0000_0001...
Page 293 13.4 Register Window A register can be set in the management mode. Operation Explanation 1 Select the register data to be Move the cursor to the data (decimal or binary) of the register set. number to be set in the register window, and press [SELECT]. -When the decimal data is selected, enter a decimal value.
Page 294 13.4 Register Window The registers used as current value of TMR/CNT instruction in the ladder program cannot NOTE be set. <Example of Ladder Program> STR #70010 TMR M010, M011 <-- M010 (current value) cannot be set in the register window; OUT #70011 M011 (current value) can be set in the register window.
Page 295 13.4 Register Window Operation Explanation 3 Press [ENTER]. The name is registered. DATA EDIT DISPLAY UTILITY REGISTER SET VALUE NAME M238 0000_0000_0000_0000 M239 0000_0000_0000_0000 0000_0000_0000_0000 M240 M241 0000_0000_0000_0000 M242 0000_0000_0000_0000 M243 0000_0000_0000_0000 M244 0000_0000_0000_0000 M245 0000_0000_0000_0000 M246 0000_0000_0000_0000 0000_0000_0000_0000 M247 M248 0000_0000_0000_0000 M249...
Page 296 13.5 Servo Power Status Window 13.5 Servo Power Status Window The status of “ON_EN” signals connected to each power ON unit and servo power supply of each control group can be checked in the Servo Power Status window. Operation Explanation 1 Select {IN/OUT} under the main menu.
Page 297 13.6 Analog Output Window 13.6 Analog Output Window The current settings can be checked in the Analog Output window. DATA EDIT DISPLAY UTILITY ANALOG OUTPUT TERMINAL AOUT1 AOUT2 AOUT3 AOUT4 OUTPUT V -14.00 -14.00 -10.00 -14.00 0.00 0.00 0.00 0.00 BASIC V SP RAT SP RAT...
Page 298 13.7 I/O Messages and I/O Alarms 13.7 I/O Messages and I/O Alarms 13.7.1 Registering the User Section User section I/O alarms and I/O messages can be displayed or registered in the management mode by the following procedures: Operation Explanation 1 Select {IN/OUT} under the main menu.
Page 299 13.7 I/O Messages and I/O Alarms User section I/O alarms and I/O messages can be displayed or registered by the following procedures. However, the system I/O alarms and I/O messages cannot be edited. Operation Explanation 1 Select the name to be Move the cursor to the name to be changed in either the I/O changed.
Page 300 13.8 Ladder Program Window 13.8 Ladder Program Window This window allows operators to check the ON-OFF status of signals and register values included in the ladder program. Operation Explanation Set the security mode to the management mode. (The {LADDER PROGRAM} menu is not displayed in the opera- tion/edit mode.) 2 Select {IN/OUT} from the main menu.
Page 301 13.8 Ladder Program Window The monitor indication may be displayed differently depending on the instruction types of lad- der program. Instruction Description " " signifies the ON status of operand relay number signal. " " signifies the OFF status of operand relay number signal. <Example>...
Page 302 13.8 Ladder Program Window Instruction Description WAND Indicates the value of the register/word-type relay/byte type relay of the calculation result operand (the 3rd operand) in the decimal/hexadecimal number. (The value WXOR in parentheses indicates the hexadecimal number.) Register, word-type relay: 16 bits Byte-type relay: 8 bits <Example>...
Page 303 14.1 Flow of Data by Ladder Programs 14 Editing Ladder Programs 14.1 Flow of Data by Ladder Programs Flow of data in editing, storage, and execution areas by operation of ladder program is shown below. NCP01 BOARD INTERMEDIATE EXECUTION EDITING AREA CODE AREA PROGRAM EXTERNAL...
Page 304 14.2 Editing by Mnemonic and Ladder Editor Program 14.2 Editing by Mnemonic and Ladder Editor Program The editing operations for ladder programs are two ways as follows. Editing by Mnemonic Codes Ladder programs can be edited in mnemonic codes as shown below. 0000 0000 #20010...
Page 305 14.3 Mnemonic Editing Window 14.3 Mnemonic Editing Window 14.3.1 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 Explanation Select {IN/OUT} under the...
Page 306 14.3 Mnemonic Editing Window Operation Explanation Select “YES” The edited ladder program is checked for syntax error. If no error is found, the new program is written into the execution area to run. If any error is found in the edited ladder program, the errone- ous step is identified.
Page 307 14.3 Mnemonic Editing Window 14.3.2 Editing Operation The editing operation is divided into the instruction registration operation (adding, changing, and deleting) and the operand edit operation. Inserting Instruction Operation Explanation Move the cursor to the 0000 0000 #20010 address area The line before 0001 #70010...
Page 308 14.3 Mnemonic Editing Window Operation Explanation Select the instruction to be Move the cursor to the input buffer line instruction. inserted => STR-NOT #00010 Main Menu ShortCut When there are more than two kinds of operand instructions, move the cursor to the instruction and press [SELECT]. A detailed screen is displayed.
Page 309 14.3 Mnemonic Editing Window Operation Explanation Press [ENTER] The instruction indicated in the input buffer line is added. When adding an instruction just before the END instruction, do not press [ADD]. If there is a change, press [SELECT] in the instruction area, and repeat the numeric input operation.
Page 310 14.3 Mnemonic Editing Window Changing Instructions Operation Explanation Move the cursor to the 0001 #70010 address area The instruction #71000 0002 0001 line to be changed #20012 0003 #40090 0004 0002 #20013 Select the line to be changed The instruction select dialog box is displayed. The cursor moves to the instruction list, and the cursor in the address area is under- lined.
Page 311 14.3 Mnemonic Editing Window Operation Explanation Press [ENTER] The instruction displayed in the input buffer line is changed. DATA EDIT DISPLAY UTILITY USER LADDER REST 832 0000 0000 #20010 0001 #70010 0002 0001 STR-NOT #20012 0003 #40090 0002 #20013 0004 #40014 0005 0003...
Page 312 14.3 Mnemonic Editing Window Delete Instructions Operation Explanation Move the cursor to the address area Move the cursor to the line to be deleted Press [DELETE] Press [ENTER] The cursor line instruction is deleted. 0001 #70010 The instruction 0002 0001 #20012 line to be deleted 0003...
Page 313 14.3 Mnemonic Editing Window Editing Operands Operation Explanation Move the cursor to the instruc- tion area DISPLAY UTILITY DATA EDIT USER LADDER REST 832 0000 0000 #20010 0001 #70010 #20012 0002 0001 #40090 0003 0002 0004 #20013 0005 #40014 0006 0003 #20014 #70026...
Page 314 14.3 Mnemonic Editing Window Cancelling Editing Use the following steps to cancel editing during the ladder program editing and to return to the preceding program. Operation Explanation Select {DATA} under the menu Select {CANCEL EDIT} Select “YES” DATA EDIT DISPLAY UTILITY CANCEL EDIT COMPILE...
Page 315 14.3 Mnemonic Editing Window 14.3.3 Compile Use the following steps to compile the ladder program after editing. Operation Explanation Select {DATA} under the menu Select {COMPILE} The ladder program starts compiling. The edited ladder program is checked for syntax error. If no error is found, the new program is written into the execution area to run.
Page 316 14.3 Mnemonic Editing Window 14.3.4 Search The search function can be used for the edit and confirmation. Search can be executed when the cursor is either in the address area, or the instruction area of the user ladder window or the system ladder window. Operation Explanation Select {IN/OUT} under the...
Page 317 14.3 Mnemonic Editing Window Top Line, End Line This is the operation to move the cursor to the first line or the last line in the current window. Operation Explanation Select “TOP LINE” or “END The cursor moves to “TOP LINE” or “END LINE” of the window, LINE”...
Page 318 14.3 Mnemonic Editing Window 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 window. Operation Explanation Select “SEARCH RELAY NO.” Numbers can be input. or “SEARCH REGISTER NO.”...
Page 319 15.1 Clearing the Universal Output Signals 15 Clearing Signals By setting parameters, the signal status can be automatically cleared when the power is turned ON or the mode is changed. 15.1 Clearing the Universal Output Signals Clearing Signals when Powering ON Set the parameter S2C187 to specify whether to collectively clear the universal output signals (1024 points) when powering ON, or to hold the signals in the statuses when powering OFF.
Page 320 15.1 Clearing the Universal Output Signals Parameter Signal Setting Value S4C034 d00: #10330 - #10337, d01: #10340 - #10347 Bit specified in every 8 points d02: #10350 - #10357, d03: #10360 - #10367 0: Hold; 1: Clear d04: #10370 - #10377, d05: #10380 - #10387 d06: #10390 - #10397, d07: #10400 - #10407...
Page 321 15.2 Clearing the Interface Panel Signals 15.2 Clearing the Interface Panel Signals Clearing Signals when Powering ON Set the parameters S4C330 - S4C333 to specify whether to clear the interface panel signals when powering ON, or to hold the signals in the statuses when powering OFF. (Every 8 points;...
Page 322 15.3 Clearing the Auxiliary Relay Signals 15.3 Clearing the Auxiliary Relay Signals Clearing Signals when Powering ON Set the parameters S4C040 - S4C055 to specify whether to clear the auxiliary relay signals when powering ON, or to hold the signals in the statuses when powering OFF. (Every 32 points;...
Page 323 15.3 Clearing the Auxiliary Relay Signals Parameter Signal Setting Value S4C045 d00: #73210 - #73247, d01: #73250 - #73287 Bit specified in every 32 points d02: #73290 - #73327, d03: #73330 - #73367 0: Clear; 1: Hold d04: #73370 - #73407, d05: #73410 - #73447 d06: #73450 - #73487, d07: #73490 - #73527...
Page 324 15.3 Clearing the Auxiliary Relay Signals Parameter Signal Setting Value S4C051 d00: #77050 - #77087, d01: #77090 - #77127 Bit specified in every 32 points d02: #77130 - #77167, d03: #77170 - #77207 0: Clear; 1: Hold d04: #77210 - #77247, d05: #77250 - #77287 d06: #77290 - #77327, d07: #77330 - #77367...
Page 325 15.4 Clearing the Universal Register 15.4 Clearing the Universal Register Clearing Registers when Powering ON Set the parameters S4C245 - S4C261 to specify whether to clear the universal registers when powering ON, or to hold the signals in the statuses when powering OFF. (Every 1 point;...
Page 326 15.4 Clearing the Universal Register Parameter Signal Setting Value S4C254 d00: M144 d01: M145 d02: M146 d03: M147 Bit specified in every 1 point d04: M148 d05: M149 d06: M150 d07: M151 0: Hold; 1: Clear d08: M152 d09: M153 d10: M154 d11: M155 d12: M156...
Page 327 +49-8166-90-103 YASKAWA ELECTRIC KOREA CORPORATION 1F, Samyang Bldg. 89-1, Shinchun-dong, Donk-Ku, Daegu, Korea Phone +82-53-382-7844 +82-53-382-7845 YASKAWA ELECTRIC (SINGAPORE) PTE. LTD. 151 Lorong Chuan, #04-01, New Tech Park, Singapore 556741 Phone +65-6282-3003 +65-6289-3003 YASKAWA ELECTRIC (MALAYSIA) SDN. BHD. Unit 47-1 and 2. Jalan PJU 5/9, Dataran Sunway, Kota Damansara, 47810, Petailng Jaya Selangor, Malaysia...
Page 328 Concurrent I/O 149230-1 Appendix A Setup of External I/O Allocation The NX100 I/O can be customized to make maximum use of available I/O. The external I/O allocation menu can be used to map the I/O as desired. Otherwise the system maps the device's I/O one after the other.
Page 329 Manual Appendix A Setup of External I/O Allocation In the standard configuration, each device is listed directly below the status byte. If there is more than one device in the Master section, each successive device is concatenated or linked onto the previous.
Page 330 Concurrent I/O 149230-1 By using the External I/O Allocation Menu, you are free to configure a device, byte wise, at any external I/O address. The following is a layout example: External Inputs Station Address Size MAC ID 20060 Status Channel 1 20070 Byte 1 2 Bytes...
Page 331 Manual Appendix A Setup of External I/O Allocation The following procedures provide step by step instructions for mapping I/O to the configurations shown on the previous page. The following modifications require the controller to be in Maintenance Mode with Management Mode selected. 1.
Page 332 Concurrent I/O 149230-1 3. Enter password 999999. 4. Select System -> Setup page 31...
Page 333 Manual Appendix A Setup of External I/O Allocation 5. Select Option Board. 6. Board is identified in slot CP02#1. Select card. page 32...
Page 334 Concurrent I/O 149230-1 7. CH1 and CH2 should be displayed. Select CH1. 8. Configure Slave Channel as follows: • Change SST-DN3_PCI-2(CH1) from UNUSED TO USED • At SLAVE OR MASTER, select SLAVE • Set IO SIZE to 2 • Set MAC ID to 13 •...
Page 335 Manual Appendix A Setup of External I/O Allocation 9. Press Enter to return to previous menu. 10. Configure Master Channel as follows: • Change SST-DN3_PCI-2(CH2) from UNUSED TO USED • At SLAVE OR MASTER select Master • Set IO SIZE to 10 •...
Page 336 Concurrent I/O 149230-1 page 35...
Page 337 Manual Appendix A Setup of External I/O Allocation 12. I/O MODULE MENUs Menu appears as below. I/O equals (2)Status Bytes + Slave I/0 + Master I/O Press Enter >YES > Enter External IO Allocation 1. From MAIN MENU, select SYSTEM > SETUP. page 36...
Page 338 Concurrent I/O 149230-1 2. Select EXTERNAL IO SETUP. 3. Change ALLOCATION MODE from AUTO to MANUAL. page 37...
Page 339 Manual Appendix A Setup of External I/O Allocation 4. Select EXTERNAL IO ALLOCATION - DETAIL button. 5. EXTERNAL IO ALLOCATION (INPUT) ✍ Note: Refer toTable 3 for ADDR and SIZE Information. #----- Indicates unassigned Address 20010 is discrete I/O • At 20010 allocate Station #0's I/O starting at byte 0, move 5 bytes total.
Page 340 Concurrent I/O 149230-1 6. EXTERNAL IO ALLOCATION (OUTPUT) ✍ Note: Refer toTable 4 for ADDR and SIZE Information. #----- Indicates unassigned Address 30010 is discrete I/O • At 30010 allocate Station #0's I/O starting at byte 0, move 5 bytes total. •...
Page 341 Manual Appendix A Setup of External I/O Allocation ✍ Note: 1. When the External I/O Allocation menu is set to Manual, external inputs and outputs are not automatically associated to I/O cards. 2. All bytes of information must be mapped to an external I/O point or tagged as no connection. page 40...

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