External Control (I/O / Fieldbus) 3 DESKTOP ROBOT JR3000
CONTENTS
PREFACE ........................................................................................................................................ 1
FOR YOUR SAFETY .......................................................................................................................7
1. OUTLET ....................................................................................................................................15
1.1 Outlet Location and Shape ..................................................................................................15
1.2 Internal Circuit of the Outlet Output Terminal ....................................................................... 16
1.3 Timing Chart.........................................................................................................................17
2. I/O-SYS .....................................................................................................................................18
2.1 Connectors...........................................................................................................................18
2.2 Pin No. (Robot Side) ............................................................................................................ 19
2.3 I/O Cable (Unit) .................................................................................................................... 19
2.4 Wiring Layout Check (NPN) .................................................................................................21
2.5 Wiring Layout Check (PNP) ................................................................................................. 22
2.6 Power Supply Capacity ........................................................................................................23
2.7 Input Signal (NPN) ............................................................................................................... 24
2.8 Output Signal (NPN) ............................................................................................................25
2.9 Circuit Diagram (NPN) .........................................................................................................26
2.10 Input Signal (PNP) .............................................................................................................28
2.11 Output Signal (PNP) ...........................................................................................................29
2.12 Circuit Diagram (PNP) .......................................................................................................30
2.13 AC Power Control of an External Device during an Emergency Stop ............................... 32
3. SYSTEM INPUT/OUTPUT FUNCTIONS ..................................................................................33
3.1 Input ..................................................................................................................................... 33
3.2 Output ..................................................................................................................................38
3.3 System Function Assignment Signal Conversion Table ....................................................... 40
4. I/O-SYS FUNCTION ASSIGNMENT .........................................................................................41
5. FIELDBUS FUNCTION ASSIGNMENT .....................................................................................43
6. SYSTEM INPUT/OUTPUT SIGNAL TIMING CHARTS ............................................................. 44
6.1 Power ON, Mechanical Initialization, Go to Work Home and Run Program ........................44
6.2 Power ON, Mechanical Initialization and Run Program ....................................................... 45
6.3 Power ON, Mechanical Initialization, Go to Work Home and Run Program ........................46
6.4 Change Program Number and Run Program via Program Number Load ........................... 47
6.5 Change Program Number, Run Program and Go to Work Home via Program Number Load ...48
6.6 Change Program Number and Program Number Error via Program Number Load ............ 49
6.7 Change Program Number and Run Program via Load at Start ........................................... 50
6.8 Program Number Error and Changing Program Numbers via Load at Start ....................... 51
6.9 #sysIn2, #sysIn14 Start Inhibition ........................................................................................52
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