OPERATION
ArcWorld IV-6200 XHD DR2C System Manual
5-2
MOTO
MAN
With the programming pendant, the operator can develop a series of jobs for the
robots. You can program the robots independently, the station axis independently,
or the robots and station axis together. You must select the axis combination when
teaching the job initially (see Section 5.1.4). Motoman recommends programming
the robots and station axis together to reduce the risk of interference.
NOTE:
Refer to your system’s Independent/Coordinated Motion Manual (P/N 142969-1) for
information on coordinated motion, selecting synchronization, group axes, and tooling
calibration.
CAUTION!
Remember that only the Tool Center Point (TCP) location on the robot
is recognized by the controller. Without careful programming, the
robot arm could still damage other equipment.
5.1.1
I/O Assignment
The ArcWorld IV-6200 XHD DR2C cell uses the following user and dedicated
inputs and outputs (see Table 5-1 and Table 5-2).
For more information on user and dedicated I/O’s, refer to the Concurrent I/O &
Parameter Manual (P/N 147626-1).
XRC 2001 Dedicated Inputs
XRC 2001 Dedicated Outputs
Table 5-1 XRC 2001 User Inputs
Input
Assignment
Description
IN#001thru 008
NOT USED
IN#009
CYCLE START
Cycle start input from operator station.
IN#010
AUTO/MANUAL SELECT
Auto/manual mode from operator
station.
IN#011
LIGHT CURTAIN CLEAR
Signal from light curtain controller to
verify operator is clear.
IN#012
SAFETY RELAY CR4101 FAULTED
Indication of safety relay fault. Cycle
controller power to reset.
IN#013
SAFETY RELAY CR4121 FAULTED
Indication of safety relay fault. Cycle
controller power to reset.
IN#014
AT SIDE B
Robots are at positioner Side B.
IN#015
AT SIDE A
Robots are at positioner Side A.
IN#016
NOT USED
•
Servo On
•
External Job Start
•
Alarm Reset
•
REMOTE mode ON
•
Hold
•
External Emergency Stop
•
Servo Power ON
•
TEACH mode
•
Cube 23
•
Cube 24
•
Alarm Occurrence
