Motoman SK300X, Manual

Page: 187 / 553

2.4 I/O Unit (JZRCR-XCO02B)
2-25
Example of Servo ON Sequence Circuit from External Device
Only the rising edge of the servo ON signal is valid. This signal turns ON the manipulator
servo power supply. The set and reset timings are shown in the following.
Example of Start Sequence Circuit from External Device
Only the rising edge of the external start signal is valid. This signal starts the manipulator.
Reset this signal with the interlock configuration that determines if operation can start and with
the playback (RUNNING) signal confirming that the robot has actually started moving.
Servo Power ON Confirmation
Servo ON PB
X1
X2
X3
Servo Power ON
Servo ON
Command
Servo ON
Command
Servo Power ON
Confirmation
X2
X4
X4
X4
YASNAC XRC
I/O Unit
(JZRCR-XCO02B)
Servo ON
Command
Servo ON
Command
Servo ON Output 3011
X1
X2
+24VU CN05
-5
-6
-7
-8
024VU
CN12
-A18
-A8
+24VU
PL
X3
Note: Number in ( ) means output signal number assigned to XCO02B.
PL: Pilot Lamp
X1
X6
PL
X5
X7 (3010)
Run PB
While
Servo ON
(3011)
Play mode
select
(3016)
Alarm/Error
Occuring
(3013)
Runnig
Confirmation
X6
Start
(Command)
Note: Number in ( ) means output signal number assigned to XCO02B.
Ruunig
Confirmation
X7
X5
YASNAC XRC
Ex. Start
Command
I/O Unit
(JZRCR-XCO02B)
+24VU
Running Output
(3010), etc.
External Start
Input
(2011)
CN12
-B1
-B7
Running, etc.
OVU
Running
X5