Description of Units and Circuit Boards
15 - 433
2. Insert or pull out the wire while pushing the wiring tool downward.
3. Remove the tool from the connector. Keep this tool for future use.
15.18 Assignment of universal I/O signals
Wiring tool for WAGO connector
Push
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 (play-
back). This signal is invalid if external start is prohibited from the playback
condition display.
20011 EXTERNAL HOLD
The hold lamp turns on and the signal “HOLDING (50071)” turns ON while
this signal is ON. Depending on the setting, the status of manipulator can
be “HOLDING” while this signal is OFF.
20012 CALL MASTER JOB
Only the rising edge of the signal is valid. It calls up the top of the robot pro-
gram, that is the top of the master JOB
1
. This signal is invalid during play-
back, 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 sig-
nal resets the alarm or error.
20014 EXTERNAL SERVO ON
Only the rising edge of this signal is valid. This signal turns ON the SERVO
power. Use this signal to turn ON the SERVO power from an external de-
vice.
20015 SELECT PLAY MODE
The PLAY mode is selected when the mode key on the programming pen-
dant is set at “REMOTE”. Only the rising edge of the signal is valid. When
this selection signal assigned concurrently with other mode selection sig-
nal, the teach mode is selected on a priority basis. The signal is invalid
while EXTERNAL MODE SWITCH is prohibited.
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