Motoman SK300X, Manual

Page: 222 / 553

2.8 General I/O Signal Assignment
2-60
*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 " 3.7 Interference Area " of the YASNAC XRC Instructions.
2016
SELECT TEACH MODE
The TEACH mode is selected if this
signal turns ON during PLAY mode.
Switching to other modes is disabled
while this signal is ON. If this signal
turns ON while the SELECT PLAY
MODE signal is ON, this signal takes
priority and the TEACH mode is
selected.
Specific Output List XCO02B (General Application)
Logical
Number
Output Name / Function
Logical
Number
Output Name / Function
3010
RUNNING
This signal signifies that the job is run-
ning. (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
playback panel.
3021
IN CUBE 2
This signal turns ON when the current
tool center point lies inside a pre-defined
space (Cube 2). Use this signal to pre-
vent interference with other manipulators
and jigs.
3011
SERVO IS ON
This signal signifies that the servo power
is turned ON, internal processing 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 XRC status diagnosis
for an external start.
3022
OPERATION ORIGIN POINT (IN CUBE
24)
*1
This signal turns ON when the current
tool center point lies inside a the opera-
tion origin area. Use this signal to evalu-
ate whether the robot is in the start
position.
3012
TOP 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.
*2
3023
INTERMEDIATE START OK (Sequence
continues)
This signal turns ON when the manipula-
tor operates. It turns OFF when the cur-
rently executed line is moved with the
cursor or when editing operation is car-
ried 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.
Specific Input List XCO02B (General Application)
Logical
Number
Input Name / Function
Logical
Number
Input Name / Function