Description of Units and Circuit Boards
8
-
95
8.29.2
Handling
8.29.3
General application
Logical number
I/O Name / Function
20026
TOOL SHOCK SENSOR
This is normally ON (NC) signal input. When it turns OFF, an DX200
displays a message "HAND TOOL SHOCK SENSOR OPERATING"
and a HOLD is applied. The releasing in teach mode is done on the
handling application diagnostic display. Set TOOL SHOCK SENSOR
function “NOT USE” on the handling applications diagnostic display
if this signal is not be used.
20027
LOW AIR PRESSURE
This signal is normally OFF (NO). When it turns ON, robot controller
displays user alarm in the PLAY mode or displays user message in
the TEACH mode.
20050 to20057
SENSOR INPUT 1 - 8
Inputs 1 to 8 are monitored with the HSEN handling specific instruc-
tions. Sensor inputs 1 to 8 correspond to HSEN 1 to 8.
30050 to30057
HAND VALVE 1-4
These outputs are controlled by the HAND handling specific instruc-
tions. Hand valves 1 to 4 correspond to HAND 1 to 4.
Logical number
I/O Name / Function
20024
INTERFERENCE 3 ENTRANCE PROHIBITED
If the robot attempts to enter the cube 3
2
area while this signal is ON,
the robot goes to wait status (with SERVO power ON). During wait
status, the robot operation restarts if this signal turns OFF.
20025
INTERFERENCE 4 ENTRANCE PROHIBITED
If the robot attempts to enter the cube 4
2
area while this signal is ON,
the robot goes to wait status (with SERVO power ON). During wait
status, the robot operation restarts if this signal turns OFF.
30024
IN CUBE 3
This signal turns ON when the current TCP lies inside a pre-defined
space (Cube 3). Use this signal to prevent interference with other ro-
bots and positioners.
30025
IN CUBE 4
This signal turns ON when the current TCP lies inside a pre-defined
space (Cube 4). Use this signal to prevent interference with other ro-
bots and positioners.
