YASKAWA motoman NX100

7.6 User I/O Signal Assignment
7-44
*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 man-
ages the child jobs called up immediately after the power is turned ON, is set as the
master job.
*2 See "9.7 Interference Area" of NX100 INSTRUCTIONS (Manual No: RE-CTO-A211).
System Input List NIO01 (Handling)
Logical
Number
Input Name / Function
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.
20021 INTERFERENCE 2 ENTRANCE PROHIB-
ITED
If the manipulator attempts to enter the cube
2
*2
area while this signal is ON, the manipu-
lator goes to wait status (with servo power
ON). During wait status, the manipulator
operation restarts if this signal turns OFF.
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).
20026 TOOL SHOCK SENSOR
This is normally ON (NC) signal input. When
it turns OFF, an NX100 displays message
“HAND TOOL SHOCK SENSOR OPERAT-
ING” and a HOLD is applied. The releasing
in teach mode is done on the handling appli-
cation diagnostic display. Set tool shock sen-
sor function “NOT USE” on the handling
applications diagnostic display if this signal
is not be used.
20013 ALARM/ERROR RESET
After an alarm or error has occurred and the
cause been corrected, this signal resets the
alarm or error.
20027 LOW AIR PRESSURE
This signal is normally OFF (NO). When it
turns ON, XRC displays user alarm in the
PLAY mode or displays user message in the
teach mode.
20020 INTERFERENCE 1 ENTRANCE PROHIB-
ITED
If the manipulator attempts to enter the cube
1
*2
area while this signal is ON, the manipu-
lator goes to wait status (with servo power
ON). During wait status, the manipulator
operation restarts if this signal turns OFF.
20050
to
20057
SENSOR INPUT 1 - 8
Inputs 1 to 8 are monitored with the HSEN
handling specific instructions. Sensor inputs
1 to 8 correspond to HSEN 1 to 8.