13.6 User I/O Signal Assignment
13-54
*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 man-
ages the child jobs called up immediately after the power is turned ON, is set as the
master job.
*2 See " 8.6 Interference Area ".
System Input List NIO01 (General application)
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.
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.
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).
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.
20013 ALARM/ERROR RESET
After an alarm or error has occurred and the
cause been corrected, this signal resets the
alarm or error.
20022 WORK PROHIBITED (Tool ON Prohibited)
Even if TOOLON instruction is executed, XRC
doesn’t output to external while this signal is
ON.
20015 SELECT PLAY MODE
The play mode is selected when the mode key
on the programming pendant is set at
"REMOTE". Only the rising edge of the signal
is valid. When this selection signal assigned
concurrently with other mode selection signal,
the teach mode is selected on a priority basis.
The signal is invalid while EXTERNAL MODE
SWITCH is prohibited.
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.
20016 SELECT TEACH MODE
The teach mode is selected when the mode
key of the programming pendant 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
selection signal is ON, enabling the teach
mode selection.
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.
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