YASKAWA NX100 Instructions Manual page 255

Example of Start Sequence Circuit from External Device
Only the rising edge of the external start signal is valid. This signal starts the manipulator.
Reset this signal with the interlock configuration that determines if operation can start and with
the playback (RUNNING) signal confirming that the manipulator has actually started moving.
While
Servo ON
Run PB
(30011)
X3
Running
X6 (30010)
Note: Number in ( ) means output signal number assigned to NIO01.
Alarm/Error
Play mode
Occuring
select
(30013)
(30016)
Running
Start
Confirmation
(Command)
X5
Ex. Start
Command
X4
Running
Confirmation
X5
Running, etc.
PL
13-16
13.3 CPU Unit
NX100
Robot I/F Unit
JZNC-NIF01
CN09
External Start
X4
-B1
Input
(20010)
-B7
OVU
-B18
X6 +24VU
-B8
Running Output
(30010), etc.