Description of Units and Circuit Boards
15 - 430
Only the rising edge of the external start signal is valid. This signal starts the robot. Set this
signal with the interlock configuration which determines whether operation can be started.
The playback signal (RUNNING) confirms that the robot is actually moving.
Example of start sequence circuit from the external device
Note:
Number in ( ) means output signal number assigned to AIO01.
PL: Pilot lamp
This circuit is example in case of AIO01
Run PB Robot controller
While SERVO-ON External Start Command
Selects PLAY mode External start input
Alarm/Error occurring Ongoing output
Running confirmation Running, etc.
Start (Command) Execute X6
㻯㻺㻟㻜㻤
㻮㻣
㻮㻝
㻗㻞㻠㼂㼁
㻮㻤
㻮㻝㻤
㼄㻢
㻜㻞㻠㼂㼁
㼄㻠
㼄㻠
㼄㻟
㼄㻡
㻼㻸
(20011)
(30010)
X6 (30010)
X5
(30013)
(30016)
(30011)
1
7
2
8
3
9
4
10
5
11
6
12
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