YASKAWA DX100 Operator's Manual

8-38
155507-1CD
RE-CSO-A037
DX100
8 Parameter
8.4 Parameters According to Interference Area
SUPPLE-
MENT
Interference Prevention in Interference Area
Processing to prevent interference is executed in the I/O
processing section. The relation between the DX100 I/O
signal and manipulator operation is shown below.
In wait status with the entrance prohibit signal, the
manipulator just barely enters the area for speed reduction
processing and then stops.
Fig. 8-9: Connection Example Where Two Manipulators are
Operated in the Same Area
Start
Is the TCP within
the cube?
Is the "CUBE
ENTRANCE PROHIBIT"
signal ON?
"WAIT" reset
"OPERATING IN CUBE"
signal output
Has it left the check
cube?
Outputs "WAIT" signal.
Manipulator stops.
Yes
No
No
Yes
No
Yes
Operating inside
CUBE1
Operating inside
CUBE2
Interference waiting
Inside CUBE1
entrance prohibit
Inside CUBE2
entrance prohibit
DX100
Operating inside
CUBE1
Operating inside
CUBE2
Inside CUBE1
entrance prohibit
Inside CUBE2
entrance prohibit
Interference waiting
Inside CUBE1
entrance prohibit
Inside CUBE2
entrance prohibit
Operating inside
CUBE1
Operating inside
CUBE2
Interference waiting
Manipulator A Manipulator B
Alarm signal
Output in cube during
operation.
Output during waiting by
entrance prohibit signal.
These signals are checked
when entering the cube.
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YASKAWA DX100 Specifications

General

Programming Language	Inform III
Compatible Robots	Motoman robots
Operating Temperature	0-45°C
Humidity	20-80% RH (non-condensing)
Protection Class	IP20
Interface	Ethernet
Safety Standards	ANSI/RIA R15.06-1999
Pendant	Available
I/O Capacity	1024 inputs / 1024 outputs
Storage Temperature	-10-60°C