3.10.4
System-I/O
iThe 8 last physical inputs and outputs on any, but preferably on the last digital I/O
board can be reserved for certain dedicated system functions, designated system-I/O, with the
help of a system parameter.
CONNECTION TABLE (For relay unit, see 3.10.3)
Signal name Function XS XT
INPUT CH 9
INPUT CH 10
INPUT CH 11
INPUT CH 12
INPUT CH 13
INPUT CH 14
INPUT CH 15
INPUT CH 16
U2-
U4+
OUTPUT CH 9
OUTPUT CH 10
OUTPUT CH 11
OUTPUT CH 12
OUTPUT CH 13
OUTPUT CH 14
OUTPUT CH 15
OUTPUT CH 16
U4-
Interrupt instruction
Interrupt program
Jump to program 1
Jump to program 2
Jump to program 3
Jump to program 4
Jump to program 5
Restart arc welding
0 V, supply to group 2
24 V, supply to group 4
Gripl
Grip 2
MOTOR ON
CYCLE ON
CYCLE ERROR
D5
A6
B6
C6
D6
A7
B7
C7
D7
CIO
D10
All
Bll
Cll
Dll
MANUAL REDUCED SPEED,
MANUAL FULL SPEED
SEARCH STOP
Not used
0 V, supply to group 4
A12
B12
C12
D12
12
13
14
15
16
17
18
19
20
31
32
33
34
35
36
37
38
39
40
Only AW
NOTE! Input signals must be delayed in relation to each other by at least 10 ms and activated
in the correct sequence to be sure that they are processed in the correct order and
interpreted correctly by the system.
POMAK When system- I/O under I/O MAP is used also the following functions are available.
SYSTEM AUTO The output SYSTEM AUTO is set when all of the following are set:
- Key switch is in AUTO
- No Emergency stop
- AUTO INPUT is trigged
It is reset when any of the three first conditions is not true or a error code
appears.
HOLD/RESET HOLD, EXTERNAL HOLD/RESET HOLD
r
HOLD ACKNOWLEDGEMENT.
When EXTERNAL HOLD is activated (active low) the system is taken to program stop and
after 1 sec. to MOTOR OFF. An output HOLD ACKnowledge is activated as long as the system
is in HOLD state. When HOLD RESET is set, the motors are energized (= MOTOR ON) and
the program starts (PROG START). HOLD RESET is only permitted when the system is in
SYSTEM AUTO and EXTERNAL HOLD is passive.EXTERNAL HOLD can stop the robot in
both AUTO and MANUAL mode. HOLD state is cancelled by pressing MOTOR OFF (vaild
only if SYSTEM AUTO INPUT has been defined).
Note 1. To achieve soft stop followed by MOTOR OFF condition utilizing dual channel safety.
see 3.5.6.
To resume MOTOR ON and program running use AUTO INPUT.
Note 2. If flexible I/O (I/O MAP) is used, the SWI inputs are always 1-6 and the SWI outputs
1-13 as shown in 3.16, irrespective of where the SWI board is located.
These inputs and outputs are to be defined under I/O MAP.
INSTALLATION S3
3:25
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