YASKAWA motoman NX100

7.6 User I/O Signal Assignment
7-56
System Input List NIO01 (Spot Welding)
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 dis-
play.
20024 INTERFERENCE 3 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cube
3
*2
area while this signal is ON, the manipula-
tor 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).
20025 INTERFERENCE 4 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cube
4
*2
area while this signal is ON, the manipula-
tor goes to wait status (with servo power ON).
During wait status, the manipulator operation
restarts if this signal turns OFF.
20013 ALARM/ERROR RESET
After an alarm or error has occurred and the
cause been corrected, this signal resets the
alarm or error.
20040
*4
TIMER COOLING WATER ERROR
This signal monitors the status of timer cooling
water. The manipulator displays alarm and
stops when this signal is input. The servo
power remains ON.
20020 INTERFERENCE 1 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cube
1
*2
area while this signal is ON, the manipula-
tor goes to wait status (with servo power ON).
During wait status, the manipulator operation
restarts if this signal turns OFF.
20041
*4
GUN COOLING WATER ERROR
This signal monitors the status of gun cooling
water. The manipulator displays alarm and
stops when this signal is input. The servo
power supply remains ON.
20021 INTERFERENCE 2 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cube
2
*2
area while this signal is ON, the manipula-
tor goes to wait status (with servo power ON).
During wait status, the manipulator operation
restarts if this signal turns OFF.
20042
*4
TRANSTHERMO ERROR
Error signal is sent from the transformer in the
gun to the robot. This signal is ON normally
(NC) and an alarm occurs when the signal is
OFF. The servo power supply remains ON.
20022 WELDING ON/OFF (From sequencer)
This signal inputs the welding ON/OFF selector
switch status from the sequencer in the inter-
lock unit. The WELD ON/OFF signal is output
to the Power Source according to this signal
and the manipulator status.
20043
*4
LOW AIR PRESSURE
When air pressure is reduced and this input is
turned ON, an alarm occurs. The servo power
supply remains ON.
20023 WELDING PAUSE (From sequencer)
This signal is used to move the manipulator to
the home position when an error occurs in the
Power Source or the gun.
The robot ignores the spot welding instruction
and operates playback motion.
20044
*3
WELD COMPLETION
This signal indicates that the Power Source
completed welding without error. This signal is
used as a confirmation signal for welding
instruction execution and manual spot welding.
After this signal is input, the welding sequence
is completed and the next step is executed
when confirmation limit switch is not provided.