YASKAWA DX100 Operator's Manual

10 Handling Application
10.3 Table of Work Instructions
10-12
155507-1CD
RE-CSO-A037
DX100
10.3 Table of Work Instructions
• <> indicates alpha-numerical data.
• If multiple items are shown in one additional item section, select one.
Table 10-3: Handling Instructions
HAND
Function
Turns ON/OFF signals to the gripper valves to open and close grip-
pers.
Additional
It
em
# <Device number> #1 or #2
Set when two manipulators
a
re used for handling.
<Gripper Number> 1 to 4
Required.
<Gripper Output Status> ON or OFF
Required.
ALL Valve simultaneous control
Used to turn gripper valves
1 a
nd 2 ON or OFF simulta-
neously if a 3P solenoid is
used.
Example
HAND 1 ON
HAND #1 1 OFF ALL
HSEN
Function
Monitors the sensor inputs used for handling applications and out-
puts the monitored results to variable $B014.
Additional
It
em
$B014 Result variable. Cannot be
displaye
d on screen.
# <Device number> #1 or #2
Set when two manipulators
a
re used for handling.
<Gripper Sensor Number> 1 to 8
Required.
<Sensor Input Status> ON or OFF
Required.
T=<signal waiting time> or
FOREVER
T:0.01 to 655.35 seconds
FOREVER: Unlimited
t
ime. If omitted, T=0.
Example
HSEN 1 ON FOREVER
HSEN #2 1 OFF
HSEN 1 ON T=10.00
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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