Motoman PX2750, Руководство пользователя

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2.4 I/O Unit (JZRCR-XCO02B)
2-22
"
Safety Plug Input Signal
The manipulator must be surrounded by a safeguard and a door protected by an interlock
function. The door must be opened by the technician to enter and the interlock function stops
the robot operation when the door is open. The safety plug input signal is connected to the
interlock signal from the gate.
If the servo power is ON when the interlock signal is input, the servo power turns OFF. The
servo power cannot be turned ON while the interlock signal is input. However, the servo power
does not turn OFF when the door is opened only during the TEACH mode. In this case, the
servo power can be turned ON while the interlock signal is input.
4L^L4
General I/O Circuit Board (JARCR-XCI03)
The general I/O circuit board is controlled by the system control circuit board (JANCD-XCP
01) through the specific I/O circuit board (JARCR-XCI01).
I/O can be separated as specific I/O and general I/O allocated software as follows:
• Specific I/O : IN/OUT = 24 points / 24 points
• General I/O : IN/OUT= 16 points / 16 points (relay contact output)
The specific I/O is a signal in which the part is decided in advance. The specific I/O is used
when the external operation equipment, jig controller and centralized controller control the
manipulator and related equipment as a system. The assignment of the general input signal
depends on the applications as shown in " 2.8 General I/O Signal Assignment ". The main
example using specific I/O is shown as follows.
R
Y
G
R: Red
Y: Yellow
G: Green
Safeguard
Abnormal
Safety Plug
Emergency
Stop
Taked Plug
Teach
Operating
Signal Tower
Receptacle for Teaching
Controller
YASNAC
Door
Safeguard
Manipulator Working
Envelope
Servo ON Lamp
XRC