Description of Units and Circuit Boards
15 - 434
20016 SELECT TEACH MODE
The TEACH mode is selected when the mode key of the programming pen-
dant 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 se-
lection signal is ON, enabling the TEACH mode selection.
20020 INTERFERENCE 1 ENTRANCE PROHIBITED
If the robot attempts to enter the cube 1
2
area while this signal is ON, the
robot goes to wait status (with SERVO power ON). During wait status, the
robot operation restarts if this signal turns OFF.
20021 INTERFERENCE 2 ENTRANCE PROHIBITED
If the robot attempts to enter the cube 2
2
area while this signal is ON, the
robot goes to wait status (with SERVO power ON). During wait status, the
Robot 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 „Interference area“ to the manual Instructions with the document-no.: E1102000214XX01* and
higher
Logical
number
Input name/Function
30010 RUNNING
This signal signifies that the job is running. (Signifies that the job is running,
system status is waiting reserved start, or test run is running.) This signal
status is the same status as [START] in the programming pendant.
30011 SERVO IS ON
This signal signifies that the SERVO power is turned ON, internal process-
ing such as current position creation is complete, and the system is able to
receive the START command. This signal turns OFF when the SERVO
power supply turns OFF. It can be used for YRC1000 status diagnosis for
an external start.
30012 TOP OF MASTER JOB
This signal signifies that the execution position is the top of the master JOB.
This signal can be used to confirm that the master job has been called
1
.
30013 ALARM/ERROR OCCURRED
This signal signifies that an alarm or an error occurred. If a major error oc-
curs, this signal remains ON until the main power is turned OFF.
30014 BATTERY ALARM
This signal turns ON to notify that the battery requires replacing when the
voltage drops from the battery for backup memory of the encoder. Major
problems may result if memory data is lost because of an expired battery.
It is recommended to avoid these problems by using this signal as a warn-
ing signal.
30015
to30017
REMOTE/PLAY/TEACH MODE SELECTED
This signal notifies the current mode setting. These signals are synchro-
nized with the mode select switch in the programming pendant. The signal
corresponding to the selected mode turns ON.
Logical
number
Input name/Function
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