Description of Units and Circuit Boards
8 - 92
Logical number Input name / Function
20010 EXTERNAL START
Functions the same as the [START] button in the programming
pendant. Only the rising edge of the signal is valid. It starts robot
operation (playback). This signal is invalid if external start is pro-
hibited from the playback condition display.
20012 CALL MASTER JOB
Only the rising edge of the signal is valid. It calls up the top of the
robot program, that is the top of the master JOB
1
. This signal is
invalid during playback, during teach lock and when play master
or call is prohibited (set from the playback operation condition dis-
play).
1. A master JOB is a JOB (program) which can be called by CALL MASTER JOB.Other functions are the same as
for normal JOBs. Normally, the parent JOB, which manages the child JOBs called up immediately after the power
is turned ON, is set as the master JOB.
20013 ALARM/ERROR RESET
After an alarm or error has occurred and the cause been correct-
ed, this signal resets the alarm or error.
20015 SELECT PLAY MODE
The play mode is selected when the mode key on the program-
ming pendant is set at "REMOTE". Only the rising edge of the sig-
nal is valid. When this selection signal assigned concurrently with
other mode selection signal, the teach mode is selected on a pri-
ority basis. The signal is invalid while EXTERNAL MODE
SWITCH is prohibited.
20016 SELECT TEACH MODE
The TEACH mode is selected when the mode key of the program-
ming pendant is set at "REMOTE". The other mode selection is
unavailable when this signal is ON; the signal is selected by prior-
ity even when the other selection signal is ON, enabling the
TEACH mode selection.
20020 INTERFERENCE 1 ENTRANCE PROHIBITED
If the robot attempts to enter the cube 1
2
area while this signal is
ON, the robot goes to wait status (with SERVO power ON). During
wait status, the robot operation restarts if this signal turns OFF.
2. See you System Setup Manual chapter "Interference area".
20021 INTERFERENCE 2 ENTRANCE PROHIBITED
If the robot attempts to enter the cube 2
2
area while this signal is
ON, the robot goes to wait status (with SERVO power ON). During
wait status, the robot operation restarts if this signal turns OFF.
Logical Number Output Name / Function
30010 RUNNING
This signal signifies that the job is running. (Signifies that the job
is running, system status is waiting reserved start, or test run is
running.) This signal status is the same status as [START] in the
programming pendant.
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