Description of Units and Circuit Boards
15 - 435
30020 IN CUBE 1
This signal turns ON when the current TCP lies inside a pre-defined space
(Cube 1). Use this signal to prevent interference with other robots and po-
sitioners.
30021 IN CUBE 2
This signal turns ON when the current TCP lies inside a pre-defined space
(Cube 2). Use this signal to prevent interference with other manipulators
and positioners.
30022 WORK HOME POSITION (IN CUBE 64)
2
This signal turns ON when the current TCP lies inside the work home posi-
tion area. Use this signal to evaluate whether the manipulator is in the start
position.
30023 INTERMEDIATE START OK
This signal turns ON when the robot operates. It turns OFF when the cur-
rently executed line is moved with the cursor or when editing operation is
carried out after HOLD is applied during operation. Therefore, this signal
can be used as a restart interlock after a HOLD is applied. However, it also
turns ON in the teach mode and TEACH MODE SELECTED signal must
be referred together.
1. This signal is not output during operation.
2. The work home position cube and Cube 64 are the same.
Logical
number
Input name/Function
To Next Page
Loading...
