14-64
182582-1CD
182582-1CD
14 Description of Units and Circuit Boards
14.13Universal I/O Signal Assignment
MH900, DX200 Controller
Table 14-6: Specific Input (General Application)
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 prohibited 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
display).
20013 ALARM/ERROR RESET
After an alarm or error has occurred and the cause been corrected, this signal resets
the alarm or error.
20015 SELECT PLAY MODE
The play mode is selected when the mode key on the programming pendant is set at
“REMOTE”. Only the rising edge of the signal is valid. When this selection signal
assigned concurrently with other mode selection signal, the teach mode is selected on
a priority 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 programming pendant is set at
“REMOTE”. The other mode selection is unavailable when this signal is ON; the
signal is selected by priority even when the other selection signal is ON, enabling the
teach mode selection.
20020 INTERFERENCE 1 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cube 1
2)
area while this signal is ON, the
manipulator goes to wait status (with servo power ON). During wait status, the
manipulator operation restarts if this signal turns OFF.
20021 INTERFERENCE 2 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cube 2
2)
area while this signal is ON, the
manipulator goes to wait status (with servo power ON). During wait status, the
manipulator operation restarts if this signal turns OFF.
20022 WORK PROHIBITED (Tool ON Prohibited)
Even if TOOLON instruction is executed, DX200 doesn’t output to external while this
signal is ON.
20024 INTERFERENCE 3 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cube 3
2)
area while this signal is ON, the
manipulator goes to wait status (with servo power ON). During wait status, the
manipulator operation restarts if this signal turns OFF.
20025 INTERFERENCE 4 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cube 4
2)
area while this signal is ON, the
manipulator goes to wait status (with servo power ON). During wait status, the
manipulator operation restarts if this signal turns OFF.
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.
2 See chapter 8.6 “Interference Area” at page 8-57.
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