YASKAWA NX100 Instructions Manual page 254

13.3 CPU Unit
System I/O Signal Related to Start and Stop
The following signals are system I/O signals related to start and stop.
• Servo ON
• External Servo ON
• External Start
• Operating
• External Hold
• External Emergency Stop (common to all application: System input terminal block MXT)
<Timing Chart>
Manipulator
While Servo ON
Servo ON
External Start
Operating
External Hold
Ext. E-Stop
Note: Set T=100msec or more
Example of Servo ON Sequence Circuit from External Device
Only the rising edge of the servo ON signal is valid. This signal turns ON the manipulator
servo power supply. The set and reset timings are shown in the following.
Servo ON PB
X1
Servo Power ON
X3 (30011)
Note: Number in ( ) means output signal number assigned to NIO01.
(depending on application: JANCD-NIO01 )
(common to all application: System input terminal block MXT)
(depending on application: JANCD-NIO01 )
(depending on application: JANCD-NIO01 )
(common to all application: System input terminal block MXT)
RUN
STOP
ON
OFF
ON
OFF
T
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Servo ON
Servo ON
Confirmation
Command
X2
X1
Servo ON
Confirmation
X2
PL
PL: Pilot Lamp
13-15
T
T
Servo ON
Command
X1
Servo Power ON
X3
NX100
System Input Terminal
Block (MXT)
MXT +24VU
-29
External Servo
-30
ON Input
(EXSVON)
Robot I/F Unit
JZNC-NIF01
+24VU
CN09
-A18
Servo ON
-A8
Output
(30011)