YASKAWA Motoman UP6, Instructions Manual

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7.5 General I/O Signal Assignment
7-41
*1
The operation origin cube and Cube 24 are same.
*2
This signal is not output during operation.
Specific Output List XIU01 (General application)
Logical
Number
Output Name / Function
Logical
Number
Output Name / Function
3010 RUNNING
This signal signifies that the job is running.
(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 cen-
ter point lies inside a pre-defined space (Cube
2). Use this signal to prevent 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 sig
nal turns OFF when the servo power supply
turns OFF. It can be used for XRC status diag-
nosis for an external start. 3022
OPERATION ORIGIN POINT (IN CUBE 24)
*1
This signal turns ON when the current tool cen-
ter point lies inside a the operation origin area.
Use this signal to evaluate whether the robot is
in the start position.
3012 TOP OF 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
This signal turns ON when the manipulator
operates. It turns OFF when the currently exe-
cuted line is moved with the cursor or when
editing operation is carried out after HOLD is
applied during operation. Therefore, this signal
can be used as a restart interlock after a HOL
is applied. However, it also turns ON in the
TEACH mode and TEACH MODE SELECTED
signal must be referred together.
3013 ALARM/ERROR OCCURRED
This signal signifies that an alarm or an error
occurred. If a major error occurs, this signal
remains ON until the main power is turned
OFF. 3024 IN CUBE 3
This signal turns ON when the current tool cen-
ter point lies inside a pre-defined space (Cube
3). Use this signal to prevent interference with
other manipulators and jigs.
3014 BATTERY ALAR
This signal turns ON to notify that the battery
requires replacing when the voltage drops from
the battery for backup memory of the encoder.
Major problems may result if memory data is
lost because of an expired battery. It is recom-
mended to avoid these problems by using this
signal as a warning signal. 3025 IN CUBE 4
This signal turns ON when the current tool cen-
ter point lies inside a pre-defined space (Cube
4). Use this signal to prevent interference with
other manipulators and jigs.
3015 t
3017 REMOTE/PLAY/TEACH MODE SELECTED
This signal notifies the current mode setting.
These signals are synchronized with the lamps
[REMOTE] and [MODE] in the playback panel.
The signal corresponding to the selected mode
turns ON. 3026 WORK COMMAND
This signal provides the command for the gen
eral tool to operate. TOOL ON instruction exe-
cution or the [TOOL ON] key in the
programming pendant turns this signal O
and TOOL OFF instruction execution or the
[TOOL OFF] key in the programming pendant
turns it OFF. However, it remains OFF while
the WORK PROHIBITED signal (2022) is input
or while the robot is stopped.
3020 IN CUBE 1
This signal turns ON when the current tool cen
ter point lies inside a pre-defined space (Cube
1). Use this signal to prevent interference with
other manipulators and jigs.