Motoman SK300X, Manual

Page: 221 / 553

2.8 General I/O Signal Assignment
2-59
Specific Input List XCO02B (General Application)
Logical
Number
Input Name / Function
Logical
Number
Input Name / Function
2010
EXTERNAL START
Functions the same as the [START]
button in the playback panel . 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 condi-
tion display.
2020
INTERFERENCE 1 ENTRANCE
PROHIBITED
If the manipulator attempts to enter
the cube 1
*2
area while this signal is
ON, the manipulator goes to wait sta-
tus (with servo power ON). During
wait status, the manipulator operation
restarts if this signal turns OFF.
2012
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 condi-
tion display).
2021
INTERFERENCE 2 ENTRANCE
PROHIBITED
If the manipulator attempts to enter
the cube 2
*2
area while this signal is
ON, the manipulator goes to wait sta-
tus (with servo power ON). During
wait status, the manipulator operation
restarts if this signal turns OFF.
2013
ALARM/ERROR RESET
After an alarm or error has occurred
and the cause been corrected, this
signal resets the alarm or error.
2022
WORK PROHIBITED (Tool ON Pro-
hibited)
Even if TOOLON instruction is exe-
cuted, XRC doesn’t output to external
while this signal is ON.
2014
SELECT REMOTE MODE
Functions the same as [REMOTE] on
the playback panel. Valid only while
the signal is ON. It selects the
REMOTE mode.
2024
INTERFERENCE 3 ENTRANCE
PROHIBITED
If the manipulator attempts to enter
the cube 3
*2
area while this signal is
ON, the manipulator goes to wait sta-
tus (with servo power ON). During
wait status, the manipulator operation
restarts if this signal turns OFF.
2015
SELECT PLAY MODE
Functions the same as [MODE] on
the playback panel. Only the rising
edge of the signal is valid. It selects
the PLAY mode. If designated simul-
taneously with other modes, the
TEACH mode takes priority. This sig-
nal is invalid if external mode selec-
tion is prohibited from the operation
condition display.
2025
INTERFERENCE 4 ENTRANCE
PROHIBITED
If the manipulator attempts to enter
the cube 4
*2
area while this signal is
ON, the manipulator goes to wait sta-
tus (with servo power ON). During
wait status, the manipulator operation
restarts if this signal turns OFF.