– 30 –
To connect a hand I/O signal cable, completely insert the cable side connector into
the robot side connector and tighten the lock screws on both sides of the connector
with a screwdriver.
To disconnect the cable, loosen the lock screws, then pull out the connector. At
this time, DO NOT pull the cable instead of the connector. Otherwise, an
excessive force will be exerted on the cable, resulting in damage of the cable.
3.11 Hand I/O Signal
The hand I/O signals control the end effector such as hand attached to the robot.
The connector used is CN0 which is located on the robot arm 2 for the SCARA robot.
The TSL3000E/TSL3100E controller is provided with eight (8) input signals and
eight (8) output signals to control the end effector. (Wiring from the motor drive
power connections of the robot to the arm 2 is already finished before shipment.
However, the number of input/output signals varies depending on the robot to be
connected.)
The specifications of the input signal are the same as those of the digital input signal.
(For the connection of the common wire, see Figs. 4.3 and 4.4)
All hand output signals turn off when the controller power is turned off or turned on.
Therefore, the end effector should be designed so that a product will not drop from
the hand at the time of power failure.
The hand I/O signals can be controlled by a program created with the robot
language. In the robot language program, the hand I/O signals are specified by the
signal name assigned to each signal.
For further information on the robot language, see the Robot Language Manual.
It is also possible to control a double solenoid device by combining two (2) hand
output signals. When this happens, two (2) output signals bearing consecutive
signal names are used for the double solenoid. Specify in the robot language
program so that the two (2) output signals for the double solenoid can be exclusive
during automatic operation. When the controller power is turned off and turned on,
both output signals turn off.
The hand output signals can be turned on and off manually through the teach
pendant. For this purpose, hand output signals to be turned on and off should be
defined by the "USER.PAR" (user parameter) beforehand.
For the parameter setting, see the User Parameter Manual.
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