YASKAWA NX100 Instructions Manual page 288

13.6 User I/O Signal Assignment
Logical
Output Name / Function
Number
30010 RUNNING
This signal signifies that the job is running.
(Signifies that the job is running, system status
is waiting reserved start, or test run is running.)
This signal status is the same status as
[START] in the programming pendant.
30011 SERVO IS ON
This signal signifies that the servo power is
turned ON, internal processing such as current
position creation is complete, and the system is
able to receive the START command. This sig-
nal turns OFF when the servo power supply
turns OFF. It can be used for NX100 status
diagnosis for an external start.
30012 TOP OF MASTER JOB
This signal signifies that the execution position
is the top of the master job. This signal can be
used to confirm that the master job has been
*1
called.
30013 ALARM/ERROR OCCURRED
This signal signifies that an alarm or an error
occurred. If a major error occurs, this signal
remains ON until the main power is turned
OFF.
30014 BATTERY ALARM
This signal turns ON to notify that the battery
requires replacing when the voltage drops from
the battery for backup memory of the encoder.
Major problems may result if memory data is
lost because of an expired battery. It is recom-
mended to avoid these problems by using this
signal as a warning signal.
30015 to REMOTE/PLAY/TEACH MODE SELECTED
30017 This signal notifies the current mode setting.
These signals are synchronized with the mode
select switch in the programming pendant. The
signal corresponding to the selected mode
turns ON.
30020 IN CUBE 1
This signal turns ON when the current TCP lies
inside a pre-defined space (Cube 1). Use this
signal to prevent interference with other manip-
ulators and positioners.
*1
This signal is not output during operation.
*2
The work home position cube and Cube 32 are same.
System Output List NIO01 (Handling)
Logical
Number
30021
30022
30023
30050 to
30057
13-49
Output Name / Function
IN CUBE 2
This signal turns ON when the current TCP lies
inside a pre-defined space (Cube 2). Use this
signal to prevent interference with other manip-
ulators and positioners.
WORK HOME POSITION (IN CUBE 32)
This signal turns ON when the current TCP lies
inside the work home position area. Use this
signal to evaluate whether the manipulator is in
the start position.
INTERMEDIATE START OK
This signal turns ON when the manipulator
operates. It turns OFF when the currently exe-
cuted line is moved with the cursor or when
editing operation is carried out after HOLD is
applied during operation. Therefore, this signal
can be used as a restart interlock after a HOLD
is applied. However, it also turns ON in the
teach mode and TEACH MODE SELECTED
signal must be referred together.
HAND VALVE 1-4
These outputs are controlled by the HAND
handling specific instructions.
Hand valves 1 to 4 correspond to HAND 1 to 4.
*2