MOTO
MAN
6-1
MH-Series System Manual
SECTION 6
NS600 OPERATION
This section deals with I/O sequencing with the positioner. This section assumes
the electrical interface of the NS600 was wired as dictated for part number
146732-1, -2, -3 (all three dash numbers represent the standard package for this
product).
6.1
Operating the NS600
6.1.1
E-Stop
The E-Stop button functions as expected, immediately stopping all motion output
from the NS600 control system.
6.1.2
I/O Sequencing
The NS600 control system is tied into the robot controller via I/O signals only.
6.1.3
Sequencing I/O for Motion
Motion is only possible when the robot controller has servo power applied (this is
shown by the green indicator on the controller or teach pendent).
Motion selection is listed in the following tables:
•
Table 6-1 – 2 Position Continuous Rotation
•
Table 6-2 – 3 Position Continuous Rotation
•
Table 6-3 – 4 Position Continuous Rotation
•
Table 6-4 – 2 Position Reciprocating Rotation
Before motion begins, the binary pattern needs to be selected (reference the
following tables). Motion starts once the ‘start’ signal is turned on via controller
output #9. If output #9 is turned off before motion ends then the motion controller
pauses the current motion. This motion can be resumed by once again turning on
output #9.
A paused motion must be completed before another motion can be selected. A
pause or interrupted motion can be cancelled in two ways. With the start signal
turned off (XRC output #9) the motion reset signal can be toggled to reset the
current motion selected; at this point a new motion can be selected. Additionally,
when power is removed from the robot controller the NS600 will no longer require
the previously selected move to complete; at power up a new move can be started.
In order to select a different motion without finishing out the first motion power
can be cycled.
NOTE:
• Once a program has been started with the ‘start’ signal, the binary pattern can change or be
turned off entirely, yet the previously selected program will be executed by ‘start’ until the
move goes to completion.
• Jog motions are controlled by the start signal and never require the use of the motion reset
output; new motions can be selected after a jog without concern for move completion.
The NS600 will indicate when motion is occurring and stopping. Refer to the
following charts to know what inputs will occur for the corresponding motion
program selected. Inputs are turned on and off during motion and at the completion
of motion.
