YASKAWA MOTOMAN DX100 Instructions Manual
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DX100 OPTIONS
INSTRUCTIONS
STANDARD I/O SIGNAL ASSIGNMENT TABLE (PNP SPECIFICATION)
FOR ROBOT I/F UNIT TYPE: JZNC-YIU02-E
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-
INSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATOR’S MANUAL
DX100 MAINTENANCE MANUAL
The DX100 operator’s manuals above correspond to specific usage.
Be sure to use the appropriate manual.
Part Number: 158604-1CD
Revision: 1
MANUAL NO.
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Copyright © 2015, Yaskawa America, Inc.
Terms of Use and Copyright Notice
All rights reserved. This manual is freely available as a service to Yaskawa customers to assist in the operation of Motoman robots, related equipment and software This manual is copyrighted property of Yaskawa and may not be sold or redistributed in any way. You are welcome to copy this document to your computer or mobile device for easy access but you may not copy the PDF files to another website, blog, cloud storage site or any other means of storing or distributing online content.
Printed in the United States of America
First Printing, 2015
Yaskawa America, Inc.
Motoman Robotics Division
100 Automation Way
Miamisburg, OH 45342
Phone: 937-847-6200 www.motoman.com ii
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MANDATORY
• This supplementary manual describes the standard I/O signal assignments for the PNP specification. Read this manual carefully and be sure to understand its contents before handling the DX100.
• The differences are described based on "13.12.1 to 13.12.4 User I/
O Signal Assignment" in "DX100 INSTRUCTIONS" (Manual No.
RE-CTO-A215). Read this manual thoroughly replacing the subject matters for changes with this supplementary instruction manual.
• General items related to safety are listed in Section 1: Safety of the
DX100 Instructions. To ensure correct and safe operation, carefully read the section.
CAUTION
• Some drawings in this manual are shown with the protective covers or shields removed for clarity. Be sure all covers and shields are replaced before operating this product.
• The drawings and photos in this manual are representative examples and differences may exist between them and the delivered product.
• YASKAWA may modify this model without notice when necessary due to product improvements, modifications, or changes in specifications. If such modification is made, the manual number will also be revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA representative to order a new copy. The representatives are listed on the back cover. Be sure to tell the representative the manual number listed on the front cover.
• YASKAWA is not responsible for incidents arising from unauthorized modification of its products. Unauthorized modification voids your product’s warranty.
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We suggest that you obtain and review a copy of the ANSI/RIA National
Safety Standard for Industrial Robots and Robot Systems (ANSI/RIA
R15.06-2012). You can obtain this document from the Robotic Industries
Association (RIA) at the following address:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: (734) 994-6088
FAX: (734) 994-3338 www.roboticsonline.com
Ultimately, well-trained personnel are the best safeguard against accidents and damage that can result from improper operation of the equipment. The customer is responsible for providing adequately trained personnel to operate, program, and maintain the equipment. NEVER
ALLOW UNTRAINED PERSONNEL TO OPERATE, PROGRAM, OR
REPAIR THE EQUIPMENT!
We recommend approved Yaskawa training courses for all personnel involved with the operation, programming, or repair of the equipment.
This equipment has been tested and found to comply with the limits for a
Class A digital device, pursuant to part 15 of the FCC rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instruction manual, may cause harmful interference to radio communications.
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Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or inspection of the DX100.
In this manual, the Notes for Safe Operation are classified as
“WARNING”, “CAUTION”, “MANDATORY” or ”PROHIBITED.”
WARNING
CAUTION
Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury to personnel.
Indicates a potentially hazardous situation which, if not avoided, could result in minor or moderate injury to personnel and damage to equipment.
It may also be used to alert against unsafe practices.
MANDATORY
Always be sure to follow explicitly the items listed under this heading.
Must never be performed.
PROHIBITED
Even items described as “CAUTION” may result in a serious accident in some situations.
At any rate, be sure to follow these important items.
NOTE
To ensure safe and efficient operation at all times, be sure to follow all instructions, even if not designated as
“CAUTION” and “WARNING.” v
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WARNING
• Confirm that no person is present in the P-point maximum envelope of the manipulator and that you are in a safe location before:
- Turning ON the DX100 power
- Moving the manipulator with the programming pendant
- Running the system in the check mode
- Performing automatic operations
Injury may result if anyone enters the P-point maximum envelope of the manipulator during operation. Always press an emergency stop button immediately if there are problems.The emergency stop buttons are located on the right of the front door of the DX100 and the programming pendant.
• Observe the following precautions when performing teaching operations within the P-point maximum envelope of the manipulator:
- View the manipulator from the front whenever possible.
- Always follow the predetermined operating procedure.
- Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
• Before operating the manipulator, check that servo power is turned OFF when the emergency stop buttons on the front door of the DX100 and programming pendant are pressed.
When the servo power is turned OFF , the SERVO ON LED on the programming pendant is turned OFF .
Injury or damage to machinery may result if the emergency stop circuit cannot stop the manipulator during an emergency. The manipulator should not be used if the emergency stop buttons do not function.
Emergency Stop Button
• Once the emergency stop button is released, clear the cell of all items which could interfere with the operation of the manipulator. Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Release of Emergency Stop
TURN vi
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CAUTION
• Perform the following inspection procedures prior to conducting manipulator teaching. If problems are found, repair them immediately, and be sure that all other necessary processing has been performed.
-Check for problems in manipulator movement.
-Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the
DX100 cabinet after use.
The programming pendant can be damaged if it is left in the P-point maximum envelope of the manipulator’s work area, on the floor, or near fixtures.
• Read and understand the Explanation of the Warning Labels before operating the manipulator.
Definition of Terms Used Often in This Manual
The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the programming pendant, and the manipulator cables.
In this manual, the equipment is designated as follows:
Equipment
DX100 Controller
DX100 Programming Pendant
Cable between the manipulator and the controller
Manual Designation
DX100
Programming Pendant
Manipulator Cable vii
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Descriptions of the programming pendant, buttons, and displays are shown as follows:
Equipment
Programming
Pendant
Character
Keys
Symbol
Keys
Manual Designation
The keys which have characters printed on them are denoted with [ ].
ex. [ENTER]
The keys which have a symbol printed on them are not denoted with [ ] but depicted with a small picture.
GO
BACK ex. page key
PAGE
The cursor key is an exception, and a picture is not shown.
Axis Keys
Number Keys
“Axis Keys” and “Number Keys” are generic names for the keys for axis operation and number input.
Keys pressed simultaneously
When two keys are to be pressed simultaneously, the keys are shown with a “+” sign between them, ex. [SHIFT]+[COORD]
Displays The menu displayed in the programming pendant is denoted with { }.
ex. {JOB}
Description of the Operation Procedure
In the explanation of the operation procedure, the expression "Select • • • " means that the cursor is moved to the object item and the SELECT key is pressed, or that the item is directly selected by touching the screen.
Registered Trademark
In this manual, names of companies, corporations, or products are trademarks, registered trademarks, or brand names for each company or corporation. The indications of (R) and TM are omitted.
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Customer Support Information
If you need assistance with any aspect of your Standard I/O Signal
Assignment Table (PNP) system, please contact Motoman Customer
Support at the following
24-hour telephone number:
(937) 847-3200
For routine technical inquiries, you can also contact Motoman Customer
Support at the following e-mail address: [email protected]
When using e-mail to contact Motoman Customer Support, please provide a detailed description of your issue, along with complete contact information. Please allow approximately 24 to 36 hours for a response to your inquiry.
NOTE
Please use e-mail for routine inquiries only. If you have an urgent or emergency need for service, replacement parts, or information, you must contact Motoman Customer
Support at the telephone number shown above.
Please have the following information ready before you call:
• System
• Robots
• Positioner
• Primary Application
• Controller
• Software Version
• Robot Serial Number
• Robot Sales Order Number
DX100
Access this information on the
Programming Pendant’s LCD display screen by selecting {MAIN
MENU} - {SYSTEM INFO} -
{VERSION}
Located on the robot data plate
Located on the controller data plate ix
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Table of Contents
Table of Contents
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1 Arc Welding
1 Arc Welding
Fig. 1-1: JZNC-YIU02-E(CN308 Connector) I/O Allocation and Connection Diagram (For Arc Welding)
DX100
I/O Unit (JZNC-YIU02 -E)
Logical
Number
Connector
Number
CN308 Connector
Name
External Start
Signal
Connector Terminal Converter
(Optional)
Model:TIFS553YS
Terminal
Number
Each Point
24VDC
8mA max.
Call Master Job
Alarm/Error Reset
Select Play Mode
Select Teach Mode
Interference1 Entrance
Prohibited
Interference2 Entrance
Prohibited
Work Prohibited
Work Response
Each Point
24VDC
50mA max.
Running
Servo is ON
Top of Master Job
Alarm/Error Occurred
Battery Alarm
Remote Mode Selected
Play Mode Selected
Teach Mode Selected
In Cube 1
In Cube 2
Work Home Position
Intermediate Start OK
(Sequence Continuing)
External
Power Supply
+24 VE
024 VE
CN303
Internal
Power Supply
+24 V
024 V
(24V,1.5A)
* Remove the Jumper-pins between CN303-1 to -3, CN303-2 to -4
when the external power supply is used.
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1 Arc Welding
Fig. 1-2: JZNC-YIU02-E (CN309 Connector) I/O Allocation and Connection Diagram (For Arc Welding)
DX100
I/O Unit (JZNC-YIU02-E)
Logical
Number
Connector
Number
CN309 Connector
Name Signal
Connector Terminal Converter
(Optional)
Model:TIFS553YS
Terminal
Number
Each Point
24VDC
8mA max.
Weaving Prohibited
Sensing Prohibited
IN01 User Input
IN02 User Input
IN03 User Input
IN04 User Input
IN05 User Input
IN06 User Input
IN07 User Input
IN08 User Input
Each Point
24VDC
50mA max.
Gas Shortage (Monitor)
Wire Shortage (Monitor)
Wire Sticking (Monitor)
Arc Shortage (Monitor)
OUT01 User Output
OUT02 User Output
OUT03 User Output
OUT04 User Output
OUT05 User Output
OUT06 User Output
OUT07 User Output
OUT08 User Output
External
Power Supply
+24 VE
024 VE
CN303 Internal
Power Supply
+24 V
024 V
(24V,1.5A)
* Remove the Jumper-pins between CN303-1 to -3, CN303-2 to -4
when the external power supply is used.
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1 Arc Welding
Fig. 1-3: JZNC-YIU02-E (CN306 Connector) I/O Allocation and Connection Diagram (For Arc Welding)
DX100
I/O Unit (JZNC-YIU02-E)
Each Point
24VDC
8mA max.
Logical
Number
Connector
Number
CN306 Connector
Name
User Input
User Input
User Input
User Input
User Input
User Input
User Input
User Input
Signal
Connector Terminal Converter
(Optional)
Model:TIFS553YS
Terminal
Number
Each Point
24VDC
50mA max.
User Output
User Output
User Output
User Output
User Output
User Output
User Output
User Output
External
Power Supply
+24 VE
024 VE
CN303 Internal
Power Supply
+24 V
024 V
(24V,1.5A)
* Remove the Jumper-pins between CN303-1 to -3, CN303-2 to -4
when the external power supply is used.
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1 Arc Welding
Fig. 1-4: JZNC-YIU02-E (CN307 Connector) I/O Allocation and Connection Diagram (For Arc Welding)
DX100
I/O Unit (JZNC-YIU02-E)
Each Point
24VDC
8mA max.
Logical
Number
Connector
Number
CN307 Connector
Name
User Input
User Input
User Input
User Input
User Input
User Input
User Input
User Input
Signal
Connector Terminal Converter
(Optional)
Model:TIFS553YS
Terminal
Number
Each Point
24VDC
500mA max.
User Output
User Output
User Output
User Output
User Output
User Output
User Output
User Output
User Output
User Output
User Output
User Output
User Output
User Output
User Output
User Output
External
Power Supply
+24 VE
024 VE
CN303
Internal
Power Supply
+24 V
024 V
(24V,1.5A)
* Remove the Jumper-pins between CN303-1 to -3, CN303-2 to -4
when the external power supply is used.
* means internal relay
means
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1 Arc Welding
Table 1-1: Specific Input (Arc Welding)
Logical
Number
20010
Input Name / Function
20012
20013
20015
20016
20020
20021
20022
20023
20026
20027
EXTERNAL START
Functions the same as the [START] button in the programming pendant. Only the rising edge of the signal is valid. It starts robot operation (playback). This signal is invalid if external start is prohibited from the playback condition display.
CALL MASTER JOB
Only the rising edge of the signal is valid. It calls up the top of the robot program, that is the top of the master job
1)
. This signal is invalid during playback, during teach lock and when play master or call is prohibited (set from the playback operation condition display).
ALARM/ERROR RESET
After an alarm or error has occurred and the cause been corrected, this signal resets the alarm or error.
SELECT PLAY MODE
The play mode is selected when the mode key on the programming pendant is set at
"REMOTE". Only the rising edge of the signal is valid. When this selection signal assigned concurrently with other mode selection signal, the teach mode is selected on a priority basis. The signal is invalid while EXTERNAL MODE SWITCH is prohibited.
SELECT TEACH MODE
The teach mode is selected when the mode key of the programming pendant is set at
"REMOTE". The other mode selection is unavailable when this signal is ON; the signal is selected by priority even when the other selection signal is ON, enabling the teach mode selection.
INTERFERENCE 1 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cube 1
2)
area while this signal is ON, the manipulator goes to wait status (with servo power ON). During wait status, the manipulator operation restarts if this signal turns OFF.
INTERFERENCE 2 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cube 2
area while this signal is ON, the
manipulator goes to wait status (with servo power ON). During wait status, the manipulator operation restarts if this signal turns OFF.
WORK PROHIBITED (Arc Generation Prohibited)
Arc generation is prohibited while this signal is ON. Arc generation starts when this signal turns OFF inside the arc-generation area. Use this signal to confirm teaching.
WORK RESPONSE (Pseudo Arc ON Response)
This signal is used as a pseudo signal in cases that “Arc Generation Confirmation” signal is not equipped on a welding power supply. Wire this signal ON normally (short to OV).
WEAVING PROHIBITED
Weaving is prohibited while this signal is ON. Use this signal to check taught steps and movements without performing the weaving operation.
SENSlNG PROHIBITED
Arc sensing is prohibited while this signal is ON. Use this signal to check taught steps and movements if an arc sensor is mounted.
1 A master job is a job (program) which can be called by CALL MASTER JOB.Other functions are the same as for normal jobs. Normally, the parent job, which manages the child jobs called up immediately after the power is turned ON, is set as the master job.
2 See section 8.6 “Interference Area” in the “DX100 INSTRUCTIONS.”
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1 Arc Welding
Table 1-2: Specific Output (Arc Welding)
Logical
Number
30010
Input Name / Function
30011
30012
30013
30014
30015 to
30017
30020
30021
30022
30023
30024
30025
30026
30027
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 programming pendant.
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 signal turns OFF when the servo power supply turns OFF. It can be used for DX100 status diagnosis for an external start.
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.
1)
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.
BATTERY ALARM
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 recommended to avoid these problems by using this signal as a warning signal.
REMOTE/PLAY/TEACH MODE SELECTED
This signal notifies the current mode setting. These signals are synchronized with the mode select switch in the programming pendant. The signal corresponding to the selected mode turns ON.
IN CUBE 1
This signal turns ON when the current TCP lies inside a pre-defined space (Cube 1). Use this signal to prevent interference with other manipulators and positioners.
IN CUBE 2
This signal turns ON when the current TCP lies inside a pre-defined space (Cube 2). Use this signal to prevent interference with other manipulators and positioners.
WORK HOME POSITION (IN CUBE 32)
2)
This signal turns ON when the current TCP lies inside the work home position area. Use this signal to evaluate whether the manipulator is in the start position.
INTERMEDIATE START OK (Sequence Continuing)
This signal turns ON when the manipulator operates. It turns OFF when the currently executed 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
HOLD is applied. However, it also turns ON in the teach mode and TEACH MODE
SELECTED signal must be referred together.
GAS SHORTAGE (MONITOR)
This signal stays ON while the gas shortage signal from the welding power supply is ON.
WIRE SHORTAGE (MONITOR)
This signal status ON while the wire shortage signal from the welding power supply is ON.
WIRE STICKING (MONITOR)
The wire sticking check is conducted automatically when the arc turns OFF. If wire sticking is detected, this signal remains ON until the wire sticking is released.
ARC SHORTAGE (MONITOR)
This signal stays ON while the arc shortage signal from the welding power supply is ON.
1 This signal is not output during operation.
2 The work home position cube and Cube 32 are the same.
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2 Handling
2 Handling
Fig. 2-1: JZNC-YIU02-E (CN308 Connector) I/O Allocation and Connection Diagram (For Handling)
DX100
I/O Unit (JZNC-YIU02-E)
Logical
Number
Connector
Number
CN308 Connector
Name
External Start
Signal
Connector Terminal Converter
(Optional)
Model: TIFS553YS
Terminal
Number
Each Point
24VDC
8mA max.
Call Master Job
Alarm/Error Reset
Select Play Mode
Select Teach Mode
Interference1 Entrance
Prohibited
Interference2 Entrance
Prohibited
Each Point
24VDC
50mA max.
Running
Servo is ON
Top of Master Job
Alarm/Error Occurred
Battery Alarm
Remote Mode Selected
Play Mode Selected
Teach Mode Selected
In Cube 1
In Cube 2
Work Home Position
Intermediate Start OK
(Sequence Continuing)
External
Power Supply
+24 VE
024 VE
CN303
Internal
Power Supply
+24 V
024 V
(24V,1.5A)
* Remove the Jumper-pins between CN303-1 to -3, CN303-2 to -4
when the external power supply is used.
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2 Handling
Fig. 2-2: JZNC-YIU02-E (CN309 Connector) I/O Allocation and Connection Diagram (For Handling)
DX100
I/O Unit (JZNC-YIU02-E)
Logical
Number
Connector
Number
CN309 Connector
Name Signal
Connector Terminal Converter
(Optional)
Model: TIFS553YS
Terminal
Number
Each Point
24VDC
8mA max.
Shock Sensor (NC)
- Hold
Low Air Pressure
User Input
User Input
User Input
User Input
User Input
User Input
User Input
User Input
Each Point
24VDC
50mA max.
User Output
User Output
User Output
User Output
User Output
User Output
User Output
User Output
External
Power Supply
+24 VE
024 VE
CN303
Internal
Power Supply
+24 V
024 V
(24V,1.5A)
* Remove the Jumper-pins between CN303-1 to -3, CN303-2 to -4
when the external power supply is used.
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2 Handling
Fig. 2-3: JZNC-YIU02-E (CN306 Connector) I/O Allocation and Connection Diagram (For Handling)
DX100
I/O Unit (JZNC-YIU02-E)
Each Point
24VDC
8mA max.
Logical
Number
Connector
Number
CN306 Connector
Name
User Input
User Input
User Input
User Input
User Input
User Input
User Input
User Input
Signal
Connector Terminal Converter
(Optional)
Model: TIFS553YS
Terminal
Number
Each Point
24VDC
50mA max.
User Output
User Output
User Output
User Output
User Output
User Output
User Output
User Output
External
Power Supply
+24 VE
024 VE
CN303 Internal
Power Supply
+24 V
024 V
(24V,1.5A)
* Remove the Jumper-pins between CN303-1 to -3, CN303-2 to -4
when the external power supply is used.
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2 Handling
Fig. 2-4: JZNC-YIU02-E (CN307 Connector) I/O Allocation and Connection Diagram (For Handling)
DX100
I/O Unit (JZNC-YIU02-E)
Each Point
24VDC
8mA max.
Logical
Number
Connector
Number
CN307 Connector
Name
Sensor Input 1
Sensor Input 2
Sensor Input 3
Sensor Input 4
Sensor Input 5
Sensor Input 6
Sensor Input 7
Sensor Input 8
Signal
Connector Terminal Converter
(Optional)
Model: TIFS553YS
Terminal
Number
Each Point
24VDC
500mA max.
Hand Valve 1-1-
Hand Valve 1-1+
Hand Valve 1-2-
Hand Valve 1-2+
Hand Valve 2-1-
Hand Valve 2-1+
Hand Valve 2-2-
Hand Valve 2-2+
Hand Valve 3-1-
Hand Valve 3-1+
Hand Valve 3-2-
Hand Valve 3-2+
Hand Valve 4-1-
Hand Valve 4-1+
Hand Valve 4-2-
Hand Valve 4-2+
External
Power Supply
+24 VE
024 VE
CN303
Internal
Power Supply
+24 V
024 V
(24V,1.5A)
* Remove the Jumper-pins between CN303-1 to -3, CN303-2 to -4
when the external power supply is used.
* means internal relay
means
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2 Handling
Table 2-1: Specific Input (Handling)
Logical
Number
20010
Input Name / Function
20012
20013
20015
20016
20020
20021
20026
20027
20050 to
20057
EXTERNAL START
Functions the same as the [START] button in the programming pendant. Only the rising edge of the signal is valid. It starts robot operation (playback). This signal is invalid if external start is prohibited from the playback condition display.
CALL MASTER JOB
Only the rising edge of the signal is valid. It calls up the top of the robot program, that is the top of the master job
1)
. This signal is invalid during playback, during teach lock and when play master or call is prohibited (set from the playback operation condition display).
ALARM/ERROR RESET
After an alarm or error has occurred and the cause been corrected, this signal resets the alarm or error.
SELECT PLAY MODE
The play mode is selected when the mode key on the programming pendant is set at
"REMOTE". Only the rising edge of the signal is valid. When this selection signal assigned concurrently with other mode selection signal, the teach mode is selected on a priority basis. The signal is invalid while EXTERNAL MODE SWITCH is prohibited.
SELECT TEACH MODE
The teach mode is selected when the mode key of the programming pendant is set at
"REMOTE". The other mode selection is unavailable when this signal is ON; the signal is selected by priority even when the other selection signal is ON, enabling the teach mode selection.
INTERFERENCE 1 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cube 1
2)
area while this signal is ON, the manipulator goes to wait status (with servo power ON). During wait status, the manipulator operation restarts if this signal turns OFF.
INTERFERENCE 2 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cube 2
area while this signal is ON, the
manipulator goes to wait status (with servo power ON). During wait status, the manipulator operation restarts if this signal turns OFF.
TOOL SHOCK SENSOR
This is normally ON (NC) signal input. When it turns OFF, the DX100 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.
LOW AIR PRESSURE
This signal is normally OFF (NO). When it turns ON, the DX100 displays user alarm in the PLAY mode or displays user message in the teach mode.
SENSOR INPUT 1 - 8
Inputs 1 to 8 are monitored with the HSEN handling specific instructions. Sensor inputs 1 to 8 correspond to HSEN 1 to 8.
1 A master job is a job (program) which can be called by CALL MASTER JOB. Other functions are the same as for normal jobs. Normally, the parent job, which manages the child jobs called up immediately after the power is turned ON, is set as the master job.
2 See section 8.6 “Interference Area” in the “DX100 INSTRUCTIONS.”
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Standard I/O Signal
Assignment Table (PNP)
2 Handling
Table 2-2: Specific Output (Handling)
Logical
Number
30010
Output Name / Function
30011
30012
30013
30014
30015 to
30017
30020
30021
30022
30023
30050 to
30057
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 programming pendant.
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 signal turns OFF when the servo power supply turns OFF. It can be used for DX100 status diagnosis for an external start.
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.
1)
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.
BATTERY ALARM
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 recommended to avoid these problems by using this signal as a warning signal.
REMOTE/PLAY/TEACH MODE SELECTED
This signal notifies the current mode setting. These signals are synchronized with the mode select switch in the programming pendant. The signal corresponding to the selected mode turns ON.
IN CUBE 1
This signal turns ON when the current TCP lies inside a pre-defined space (Cube 1).
Use this signal to prevent interference with other manipulators and positioners.
IN CUBE 2
This signal turns ON when the current TCP lies inside a pre-defined space (Cube 2).
Use this signal to prevent interference with other manipulators and positioners.
WORK HOME POSITION (IN CUBE 32)
2)
This signal turns ON when the current TCP lies inside the work home position area.
Use this signal to evaluate whether the manipulator is in the start position.
INTERMEDIATE START OK (Sequence Continuing)
This signal turns ON when the manipulator operates. It turns OFF when the currently executed 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 HOLD is applied. However, it also turns ON in the teach mode and
TEACH MODE SELECTED signal must be referred together.
HAND VALVE 1-4
These outputs are controlled by the HAND handling specific instructions.
Hand valves 1 to 4 correspond to HAND 1 to 4.
1 This signal is not output during operation.
2 The work home position cube and Cube 32 are the same.
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Standard I/O Signal
Assignment Table (PNP)
3 General Application
3 General Application
Fig. 3-1: JZNC-YIU02-E (CN308 Connector) I/O Allocation and Connection Diagram (For General
Application)
DX100
I/O Unit (JZNC-YIU02-E)
Logical
Number
Connector
Number
CN308 Connector
Name
External Start
Signal
Connector Terminal Converter
(Optional)
Model:TIFS553YS
Terminal
Number
Each Point
24VDC
8mA max.
Call Master Job
Alarm/Error Reset
Select Play Mode
Select Teach Mode
Interference1 Entrance
Prohibited
Interference2 Entrance
Prohibited
Work Prohibited
Each Point
24VDC
50mA max.
Running
Servo is ON
Top of Master Job
Alarm/Error Occurred
Battery Alarm
Remote Mode Selected
Play Mode Selected
Teach Mode Selected
In Cube 1
In Cube 2
Work Home Position
Intermediate Start OK
(Sequence Continuing)
External
Power Supply
+24 VE
024 VE
CN303 Internal
Power Supply
+24 V
024 V
(24V,1.5A)
* Remove the Jumper-pins between CN303-1 to -3, CN303-2 to -4
when the external power supply is used.
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Standard I/O Signal
Assignment Table (PNP)
3 General Application
Fig. 3-2: JZNC-YIU02-E (CN309 Connector) I/O Allocation and Connection Diagram (For General
Application)
DX100
I/O Unit (JZNC-YIU02-E)
Logical
Number
CN309 Connector
Connector
Number
Name
Interference3 Entrance
Prohibited
Interference4 Entrance
Prohibited
Signal
Connector Terminal Converter
(Optional)
Model: TIFS553YS
Terminal
Number
Each Point
24VDC
8mA max.
User Input
User Input
User Input
User Input
User Input
User Input
User Input
User Input
Each Point
24VDC
50mA max.
In Cube 3
In Cube 4
Work Instruction
User Output
User Output
User Output
User Output
User Output
User Output
User Output
User Output
External
Power Supply
+24 VE
024 VE
CN303 Internal
Power Supply
+24 V
024 V
(24V,1.5A)
* Remove the Jumper-pins between CN303-1 to -3, CN303-2 to -4
when the external power supply is used.
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Standard I/O Signal
Assignment Table (PNP)
3 General Application
Fig. 3-3: JZNC-YIU02-E (CN306 Connector) I/O Allocation and Connection Diagram (General
Application)
DX100
I/O Unit (JZNC-YIU02-E)
Logical
Number
Signal
Connector Terminal Converter
(Optional)
Model: TIFS553YS
Terminal
Number
Each Point
24VDC
8mA max.
Connector
Number
CN306 Connector
Name
User Input
User Input
User Input
User Input
User Input
User Input
User Input
User Input
Each Point
24VDC
50mA max.
User Output
User Output
User Output
User Output
User Output
User Output
User Output
User Output
External
Power Supply
+24 VE
024 VE
CN303 Internal
Power Supply
+24 V
024 V
(24V,1.5A)
* Remove the Jumper-pins between CN303-1 to -3, CN303-2 to -4
when the external power supply is used.
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Standard I/O Signal
Assignment Table (PNP)
3 General Application
Fig. 3-4: JZNC-YIU02-E (CN307 Connector) I/O Allocation and Connection Diagram (For General
Application)
DX100
I/O Unit (JZNC-YIU02-E)
Each Point
24VDC
8mA max.
Logical
Number
Connector
Number
CN307 Connector
Name
User Input
User Input
User Input
User Input
User Input
User Input
User Input
User Input
Signal
Connector Terminal Converter
(Optional)
Model: TIFS553YS
Terminal
Number
Each Point
24VDC
500mA max.
User Output
User Output
User Output
User Output
User Output
User Output
User Output
User Output
User Output
User Output
User Output
User Output
User Output
User Output
User Output
User Output
External
Power Supply
+24 VE
024 VE
CN303 Internal
Power Supply
+24 V
024 V
(24V,1.5A)
* Remove the Jumper-pins between CN303-1 to -3, CN303-2 to -4
when the external power supply is used.
* means internal relay
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Standard I/O Signal
Assignment Table (PNP)
3 General Application
Table 3-1: Specific Input (General application)
Logical
Number
20010
Input Name / Function
20012
20013
20015
20016
20020
20021
20022
20024
20025
EXTERNAL START
Functions the same as the [START] button in the programming pendant. Only the rising edge of the signal is valid. It starts robot operation (playback). This signal is invalid if external start is prohibited from the playback condition display.
CALL MASTER JOB
Only the rising edge of the signal is valid. It calls up the top of the robot program, that is the top of the master job
1)
. This signal is invalid during playback, during teach-lock and when play master or call is prohibited (set from the playback operation condition display).
ALARM/ERROR RESET
After an alarm or error has occurred and the cause been corrected, this signal resets the alarm or error.
SELECT PLAY MODE
The play mode is selected when the mode key on the programming pendant is set at
"REMOTE". Only the rising edge of the signal is valid. When this selection signal assigned concurrently with other mode selection signal, the teach mode is selected on a priority basis. The signal is invalid while EXTERNAL MODE SWITCH is prohibited.
SELECT TEACH MODE
The teach mode is selected when the mode key of the programming pendant is set at
"REMOTE". The other mode selection is unavailable when this signal is ON; the signal is selected by priority even when the other selection signal is ON, enabling the teach mode selection.
INTERFERENCE 1 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cube 1
2)
area while this signal is ON, the manipulator goes to wait status (with servo power ON). During wait status, the manipulator operation restarts if this signal turns OFF.
INTERFERENCE 2 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cube 2
area while this signal is ON, the
manipulator goes to wait status (with servo power ON). During wait status, the manipulator operation restarts if this signal turns OFF.
WORK PROHIBITED (Tool ON Prohibited)
Even if TOOLON instruction is executed, the DX100 doesn’t output to external while this signal is ON.
INTERFERENCE 3 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cube 3
area while this signal is ON, the
manipulator goes to wait status (with servo power ON). During wait status, the manipulator operation restarts if this signal turns OFF.
INTERFERENCE 4 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cube 4
area while this signal is ON, the manipulator goes to wait status (with servo power ON). During wait status, the manipulator operation restarts if this signal turns OFF.
1 A master job is a job (program) which can be called by CALL MASTER JOB.
Other functions are the same as for normal jobs. Normally, the parent job, which manages the child jobs called up immediately after the power is turned ON, is set as the master job.
2 See section 8.6 “Interference Area” in the “DX100 INSTRUCTIONS .”
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Standard I/O Signal
Assignment Table (PNP)
3 General Application
Table 3-2: Specific Output (General application)
Logical
Number
30010
Output Name / Function
30011
30012
30013
30014
30015 to
30017
30020
30021
30022
30023
30024
30025
30026
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 programming pendant.
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 signal turns OFF when the servo power supply turns OFF. It can be used for the DX100 status diagnosis for an external start.
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.
1)
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.
BATTERY ALARM
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 recommended to avoid these problems by using this signal as a warning signal.
REMOTE/PLAY/TEACH MODE SELECTED
This signal notifies the current mode setting. These signals are synchronized with the mode select switch in the programming pendant. The signal corresponding to the selected mode turns ON.
IN CUBE 1
This signal turns ON when the current TCP lies inside a pre-defined space (Cube 1).
Use this signal to prevent interference with other manipulators and positioners.
IN CUBE 2
This signal turns ON when the current TCP lies inside a pre-defined space (Cube 2).
Use this signal to prevent interference with other manipulators and positioners.
WORK HOME POSITION (IN CUBE 32)
2)
This signal turns ON when the current TCP lies inside the work home position area.
Use this signal to evaluate whether the robot is in the start position.
INTERMEDIATE START OK (Sequence Continuing)
This signal turns ON when the manipulator operates. It turns OFF when the currently executed 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 HOLD is applied. However, it also turns ON in the teach mode and
TEACH MODE SELECTED signal must be referred together.
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 manipulators and positioners.
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 manipulators and positioners.
WORK INSTRUCTION
This signal provides the command for the general tool to operate. TOOL ON instruction execution or the [TOOL ON] key in the programming pendant turns this signal ON 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 (20022) is input or while the robot is stopped.
1 This signal is not output during operation.
2 The work home position cube and Cube 32 are the same.
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Standard I/O Signal
Assignment Table (PNP)
4 Spot Welding
4 Spot Welding
Fig. 4-1: JZNC-YIU02-E (CN308 Connector) I/O Allocation and Connection Diagram (For Spot
Welding)
DX100
I/O Unit (JZNC-YIU02-E)
Logical
Number
Connector
Number
CN308 Connector
Name
External Start
Signal
Connector Terminal Converter
(Optional)
Model: TIFS553YS
Terminal
Number
Each Point
24VDC
8mA max.
Call Master Job
Alarm/Error Reset
Select Play Mode
Select Teach Mode
Interference1 Entrance
Prohibited
Interference2 Entrance
Prohibited
Welding ON/OFF
Welding Pause
Each Point
24VDC
500mA max.
Running
Servo is ON
Top of Master Job
Alarm/Error Occurred
Battery Alarm
Remote Mode Selected
Play Mode Selected
Teach Mode Selected
In Cube 1
In Cube 2
Work Home Position
Intermediate Start OK
(Sequence Continuing)
External
Power Supply
+24 VE
024 VE
CN303
Internal
Power Supply
+24 V
024 V
(24V,1.5A)
* Remove the Jumper-pins between CN303-1 to -3, CN303-2 to -4
when the external power supply is used.
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Standard I/O Signal
Assignment Table (PNP)
4 Spot Welding
Fig. 4-2: JZNC-YIU02-E (CN309 Connector) I/O Allocation and Connection Diagram (For Spot
Welding)
DX100
I/O Unit (JZNC-YIU02-E)
Logical
Number
Connector
Number
CN309 Connector
Name
Interference3 Entrance
Prohibited
Interference4 Entrance
Prohibited
Signal
Connector Terminal Converter
(Optional)
Model: TIFS553YS
Terminal
Number
Each Point
24VDC
8mA max.
USER INPUT
USER INPUT
USER INPUT
USER INPUT
USER INPUT
USER INPUT
USER INPUT
USER INPUT
158604-1CD
Each Point
24VDC
500mA max.
In Cube 3
In Cube 4
User Output
User Output
User Output
User Output
User Output
User Output
User Output
User Output
External
Power Supply
+24 VE
024 VE
CN303
Internal
Power Supply
+24 V
024 V
(24V,1.5A)
* Remove the Jumper-pins between CN303-1 to -3, CN303-2 to -4
when the external power supply is used.
4-2
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Standard I/O Signal
Assignment Table (PNP)
4 Spot Welding
Fig. 4-3: JZNC-YIU02-E (CN306 Connector) I/O Allocation and Connection Diagram (For Spot
Welding)
DX100
I/O Unit (JZNC-YIU02-E)
Signal
Connector Terminal Converter
(Optional)
Model: TIFS553YS
Terminal
Number
Each Point
24VDC
8mA max.
Logical
Number
Connector
Number
CN306 Connector
Name
USER INPUT
USER INPUT
USER INPUT
USER INPUT
USER INPUT
USER INPUT
USER INPUT
USER INPUT
Each Point
24VDC
500mA max.
User Output
User Output
User Output
User Output
User Output
User Output
User Output
User Output
External
Power Supply
+24 VE
024 VE
CN303 Internal
Power Supply
+24 V
024 V
(24V,1.5A)
* Remove the Jumper-pins between CN303-1 to -3, CN303-2 to -4
when the external power supply is used.
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Standard I/O Signal
Assignment Table (PNP)
4 Spot Welding
Fig. 4-4: JZNC-YIU02-E (CN307 Connector) I/O Allocation and Connection Diagram (For Spot
Welding)
External
Power Supply
+24 VE
024 VE
DX100
I/O Unit (JZNC-YIU02-E)
Each Point
24VDC
8mA max.
Logical
Number
20050
20051
20052
20053
Connector
Number
B1
A1
B2
Name
Timer Cooling Water
Error (IN09)
Gun Cooling Water
Error (IN10)
***
***
Transthermo Error (IN11)
***
A2
CN307 Connector
20054
20055
B3
A3
Low Air Pressure (IN12)
***
Weld Completion (IN13)
**
IN14 User Input
20056
20057
IN15
IN16
User Input
User Input
Each Point
24VDC
500mA max.
CN303
3
4
1
2
Internal
Power Supply
+24 V
024 V
(24V,1.5A)
+24VU
024VU
30050
30051
30052
30053
30054
30055
30056
30057
A6
B7
A7
B8
A8
B9
A9
B10
A10
B11
A11
B12
A12
B13
B4
A4
B5
A5
B6
A13
B14
A14
B15
A15
B16
A16
B17
A17
B18
A18
B19
A19
B20
A20
024VU
024VU
Weld ON/OFF (OUT09)***
Weld Error Reset (OUT10)**
Weld Condition 1 (OUT11)**
Weld Condition 2 (OUT12)**
Weld Condition 3 (OUT13)**
Weld Condition 4 (OUT14)**
Gun Pressure (OUT15)**
Tip Replacement Request
(OUT16)**
024VU
024VU
024VU
024VU
+24VU
+24VU
+24VU
+24VU
FG
Signal
IN
IN
IN
IN
IN
IN
IN
IN
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
* Remove the Jumper-pins between CN303-1 to -3, CN303-2 to -4
when the external power supply is used.
** This assignment can be changed at the I/O assignment display.
Refer to Specific Input list and Specific Output list for detail.
*** This assignment can be changed at the PSEDU input display.
Refer to Specific Input list and Specific Output list for detail.
B8
A8
B9
A9
B10
A10
B11
A11
B12
A12
B13
A13
B14
A14
B15
A15
B16
A16
B17
A17
B18
A18
B19
A19
B20
A20
B1
A1
B2
A2
B3
A3
B4
A4
B5
A5
B6
A6
B7
A7
Connector Terminal Converter
(Optional)
Model: TIFS553YS
A2
B3
A3
B4
A4
Terminal
Number
B1
A1
B2
B5
A5
B6
A6
024VU
024VU
B8
A8
B9
A9
B10
A10
B11
A11
B12
A12
B13
A13
B14
A14
B15
A15
024VU
024VU
024VU
024VU
+24VU
+24VU
+24VU
+24VU
FG
024VU
024VU
024VU
024VU
024VU
024VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
+24VU
RLY
RLY
RLY
RLY
RLY
RLY
RLY
RLY
* means internal relay
means
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Standard I/O Signal
Assignment Table (PNP)
4 Spot Welding
Table 4-1: Specific Input (Spot Welding) (Sheet 1 of 2)
Logical
Number
20010
Input Name / Function
20012
20013
20015
20016
20020
20021
20022
20023
20024
20025
20050
3)
20051
EXTERNAL START
Functions the same as the [START] button in the programming pendant. Only the rising edge of the signal is valid. It starts robot operation (playback). This signal is invalid if external start is prohibited from the playback condition display.
CALL MASTER JOB
Only the rising edge of the signal is valid. It calls up the top of the robot program, that is the top of the master job
1)
. This signal is invalid during playback, during teach-lock and when play master or call is prohibited (set from the playback operation condition display).
ALARM/ERROR RESET
After an alarm or error has occurred and the cause been corrected, this signal resets the alarm or error.
SELECT PLAY MODE
The play mode is selected when the mode key on the programming pendant is set at
"REMOTE". Only the rising edge of the signal is valid. When this selection signal assigned concurrently with other mode selection signal, the teach mode is selected on a priority basis. The signal is invalid while EXTERNAL MODE SWITCH is prohibited.
SELECT TEACH MODE
The teach mode is selected when the mode key of the programming pendant is set at
"REMOTE". The other mode selection is unavailable when this signal is ON; the signal is selected by priority even when the other selection signal is ON, enabling the teach mode selection.
INTERFERENCE 1 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cube 1
2)
area while this signal is ON, the manipulator goes to wait status (with servo power ON). During wait status, the manipulator operation restarts if this signal turns OFF.
INTERFERENCE 2 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cube 2
area while this signal is ON, the
manipulator goes to wait status (with servo power ON). During wait status, the manipulator operation restarts if this signal turns OFF.
WELDING ON/OFF (From sequencer)
This signal inputs the welding ON/OFF selector switch status from the sequencer in the interlock unit. The WELD ON/OFF signal is output to the Power Source according to this signal and the manipulator status.
WELDING PAUSE (From sequencer)
This signal is used to move the manipulator to the home position when an error occurs in the Power Source or the gun.
The robot ignores the spot welding instruction and operates playback motion.
INTERFERENCE 3 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cube 3
area while this signal is ON, the
manipulator goes to wait status (with servo power ON). During wait status, the manipulator operation restarts if this signal turns OFF.
INTERFERENCE 4 ENTRANCE PROHIBITED
If the manipulator attempts to enter the cube 4
area while this signal is ON, the
manipulator goes to wait status (with servo power ON). During wait status, the manipulator operation restarts if this signal turns OFF.
TIMER COOLING WATER ERROR
This signal monitors the status of timer cooling water. The manipulator displays alarm and stops when this signal is input. The servo power remains ON.
GUN COOLING WATER ERROR
This signal monitors the status of gun cooling water. The manipulator displays alarm and stops when this signal is input. The servo power supply remains ON.
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Standard I/O Signal
Assignment Table (PNP)
4 Spot Welding
Table 4-1: Specific Input (Spot Welding) (Sheet 2 of 2)
Logical
Number
20052
20053
20054
4)
Input Name / Function
TRANSTHERMO ERROR
Error signal is sent from the transformer in the gun to the robot. This signal is ON normally (NC) and an alarm occurs when the signal is OFF. The servo power supply remains ON.
LOW AIR PRESSURE
When air pressure is reduced and this input is turned ON, an alarm occurs. The servo power supply remains ON.
WELD COMPLETION
This signal indicates that the Power Source completed welding without error. This signal is used as a confirmation signal for welding instruction execution and manual spot welding.
After this signal is input, the welding sequence is completed and the next step is executed when confirmation limit switch is not provided.
WELDING ERROR
This signal indicates an abnormal welding result or Power Source’s error. Alarm occurs and the manipulator stops if this signal is input during welding.
STICK DETECTION
This signal indicates an abnormal welding result or Power Source’s error. Alarm occurs and the manipulator stops if this signal is input during welding.
GUN FULL OPEN DETECTION
This signal indicates that the stroke of the double stroke gun is full open.
GUN SHORT OPEN DETECTION
This signal is connected with a single gun open verification limit switch or a double stroke gun short open verification limit switch to verify the gun open.
GUN PRESSURE DETECTION
This signal indicates that a gun is in pressing status.
TIP REPLACE COMPLETION
When this signal is input after tip replacement, the TIP REPLACE REQUEST signal turns OFF, and the stored number of welding is cleared.
1 A master job is a job (program) which can be called by CALL MASTER JOB.
Other functions are the same as for normal jobs. Normally, the parent job, which manages the child jobs called up immediately after the power is turned ON, is set as the master job.
2 See section 8.6 “Interference Area” in the “ DX100 INSTRUCTIONS“.
3 This signal can be set as “USE” or “NOT USE” by pseudo input signal ”8202x”. If “NOT USE” is selected, this signal can be used as the universal I/O signal described in parentheses.
Pseudo Input
Signal 8202x
7 6 5 4 3 2 1 0
0 0 0 1 1 1 1 1
Timer Cooling Water Error Validating (or IN09)
Gun Cooling Water Error Validating (or IN10)
Transthermo Error Validating (or IN11)
Low Air Pressure Validating (or IN12)
Weld ON/OFF Validating (or OUT09)
4 This signal can be allocated to any universal I/O signal at the I/O allocation display in operation condition.
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Standard I/O Signal
Assignment Table (PNP)
4 Spot Welding
Table 4-2: Specific Output (Spot Welding) (Sheet 1 of 2)
Logical
Number
30010
Output Name / Function
30011
30012
30013
30014
30015 to
30017
30020
30021
30022
30023
30024
30025
30050
3)
30051
4)
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 programming pendant.
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 signal turns OFF when the servo power supply turns OFF. It can be used for DX100 status diagnosis for an external start.
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.
1) *1
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.
BATTERY ALARM
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 recommended to avoid these problems by using this signal as a warning signal.
REMOTE/PLAY/TEACH MODE SELECTED
This signal notifies the current mode setting. These signals are synchronized with the mode select switch in the programming pendant. The signal corresponding to the selected mode turns ON.
IN CUBE 1
This signal turns ON when the current TCP lies inside a pre-defined space (Cube 1).
Use this signal to prevent interference with other manipulators and positioners.
IN CUBE 2
This signal turns ON when the current TCP lies inside a pre-defined space (Cube 2).
Use this signal to prevent interference with other manipulators and positioners.
WORK HOME POSITION (IN CUBE 32)
2)
This signal turns ON when the current TCP lies inside a the work home position area.
Use this signal to evaluate whether the robot is in the start position.
INTERMEDIATE START OK (Sequence Continuing)
This signal turns ON when the manipulator operates. It turns OFF when the currently executed 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 HOLD is applied. However, it also turns ON in the teach mode and
TEACH MODE SELECTED signal must be referred together.
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 manipulators and positioners.
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 manipulators and positioners.
WELD ON/OFF
Outputs a signal input from the interlock panel, etc.considering the robot status.
WELD ERROR RESET
This signal commands the reset error status of the Power Source. This is operated with the programing pendant operation.
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Standard I/O Signal
Assignment Table (PNP)
4 Spot Welding
Table 4-2: Specific Output (Spot Welding) (Sheet 2 of 2)
Logical
Number
30052 to
30055
30056
30057
Output Name / Function
WELD CONDITION (Level signals)
1(1), 2(2), 4(3), 8(4), 16(5), 32(6), 64(7), 128(8)
Sets the welding conditions for the Power Source.
The output format can be selected as binary or discrete (bit number). It can handle up to 255 conditions. Most-significant bit is the parity bit (when specified).
GUN PRESSURE
This outputs gun press command.
TIP REPLACEMENT REQUEST
This signal is output when the stored number of welding reaches the number of welding set for the tip replacement.
WELDING COMMAND
This signal outputs execution command signal to the Power Source. This signal is not necessary for a Power Source which is executed using the WELDING CONDITION signal.
STROKE CHANGE1
SINGLE SOLENOID
DOUBLE SOLENOID
This is a signal, when a double stroke gun is used, to change the open stroke of the welding gun.
1 This signal is not output during operation.
2 The work home position cube and Cube 32 are the same.
3 This signal can be selected “USE” or “NOT USE” by pseudo input signal ”8202x”. If “NOT USE” is selected, this signal can be used as the universal I/O signal described in parentheses.
Pseudo Input
Signal 8202x
7 6 5 4 3 2 1 0
0 0 0 1 1 1 1 1
Timer Cooling Water Error Validating (or IN09)
Gun Cooling Water Error Validating (or IN10)
Transthermo Error Validating (or IN11)
Low Air Pressure Validating (or IN12)
Weld ON/OFF Validating (or OUT09)
4 This signal can be allocated to any universal I/O signal at the I/O allocation display in operation condition.
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DX100
STANDARD I/O SIGNAL ASSIGNMENT TABLE
(PNP SPECIFICATION)
HEAD OFFICE
2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan
Phone +81-93-645-7703 Fax +81-93-645-7802
YASKAWA America Inc. (Motoman Robotics Division)
100 Automation Way, Miamisburg, OH 45342, U.S.A.
Phone +1-937-847-6200 Fax +1-937-847-6277
YASKAWA Europe GmbH Robotics Divsion )
Yaskawastrasse 1, 85391 Allershausen, Germany
Phone +49-8166-90-100 Fax +49-8166-90-103
YASKAWA Nordic AB
Bredbandet 1 vån. 3 varvsholmen 392 30 Kalmar, Sweden
Phone +46-480-417-800 Fax +46-480-417-999
YASKAWA Electric (China) Co., Ltd.
22/F One Corporate Avenue No.222, Hubin Road, Huangpu District, Shanghai 200021, China
Phone +86-21-5385-2200 Fax 㧗 86-21-5385-3299
YASKAWA SHOUGANG ROBOT Co. Ltd.
No7 Yongchang North Road, Beijing E&T Development Area China 100176
Phone +86-10-6788-2858 Fax +86-10-6788-2878
YASKAWA India Private Ltd. (Robotics Division)
#426, Udyog Vihar, Phase- IV, Gurgaon, Haryana, India
Phone +91-124-475-8500 Fax +91-124-475-8542
YASKAWA Electric Korea Co., Ltd
9F, Kyobo Securities Bldg., 26-4, Yeouido-dong, Yeongdeungpo-gu, Seoul 150-737, Korea
Phone +82-2-784-7844 Fax +82-2-784-8495
YASKAWA Electric Taiwan Corporation
12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, Taiwan
Phone +886-2-8913-1333 Fax +886-2-8913-1513
YASKAWA Electric (Singapore) PTE Ltd.
151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741
Phone +65-6282-3003 Fax +65-6289-3003
YASKAWA Electric (Thailand) Co., Ltd.
252/125-126 27th Floor, Tower B Muang Thai-Phatra Complex Building,
Rachadaphisek Road 㧘 Huaykwang, Bangkok 10320, Thailand
Phone +66-2693-2200 Fax +66-2693-4200
PT. YASKAWA Electric Indonesia
Secure Building-Gedung B Lantai Dasar & Lantai 1 JI. Raya Protokol Halim Perdanakusuma,
Jakarta 13610, Indonesia
Phone +62-21-2982-6470 Fax +62-21-2982-6741
Specifications are subject to change without notice for ongoing product modifications and improvements.
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MANUAL NO.
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