YASKAWA motoman NX100 User manual

Motoman, Incorporated
805 Liberty Lane
West Carrollton, Ohio 45449 USA
937.847.6200 (Voice)
937.847.6277 (Fax)
937.847.3200 (24-Hour Support)
www.motoman.com
[email protected]
Motoman®NX100 Controller
Concurrent I/O
Manual
Part Number: 149230-1CD
Revision: 3

The information contained within this document is the proprietary property of Motoman, Inc., and may not be
copied, reproduced or transmitted to other parties without the expressed written authorization of Motoman,
Inc.
©2008 by MOTOMAN
All Rights Reserved
Because we are constantly improving our products, we reserve the right to change specifications without
notice. MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing.
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received with your Motoman robotic solution.
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http://www.motoman.com/forms/techpubs.asp

Concurrent I/O
149230-1
Final page 1
Chapter 1
Introduction
1.1 About This Document
This manual provides information for the Concurrent I/O function and contains the following sections:
CHAPTER 1 - INTRODUCTION
Provides general information about the structure of this manual, a list of reference documents, and
customer service information.
CHAPTER 2 - SAFETY
This section provides information regarding the safe use and operation of Motoman products.
CHAPTER 3 - CONCURRENT I/O INSTRUCTIONS
Provides detailed information for the Concurrent I/O function.
APPENDIX A - SETUP OF EXTERNAL I/O ALLOCATION
Provides detailed information regarding the setup of external I/O.
1.2 Reference to Other Documentation
For additional information refer to the following:
• NX100 Controller Manual (P/N 149201-1)
• Concurrent I/O Manual (P/N 149230-1)
• Operator’s Manual for your application
• Vendor manuals for system components not manufactured by Motoman

Manual
Chapter 1 Introduction
page 2 Final
1.3 Customer Service Information
If you are in need of technical assistance, contact the Motoman service staff at [phone]. Please have
the following information ready before you call:
• Robot Type (SSA2000, HP50, etc.)
• Application Type (welding, handling, etc.)
• Robot Serial Number (located on back side of robot arm)
• Robot Sales Order Number (located on back of controller)

Concurrent I/O
149230-1
Final page 3
Chapter 2
Safety
2.1 Introduction
It is the purchaser’s responsibility to ensure that all local, county, state,
and national codes, regulations, rules, or laws relating to safety and safe
operating conditions for each installation are met and followed.
We suggest that you obtain and review a copy of the ANSI/RIA National Safety Standard for
Industrial Robots and Robot Systems. This information can be obtained from the Robotic Industries
Association by requesting ANSI/RIA R15.06-1999. The address is as follows:
RoboticIndustriesAssociation
900VictorsWay
P.O.Box3724
AnnArbor,Michigan48106
TEL:[phone]
FAX:[phone]
INTERNET:www.roboticsonline.com
Ultimately, the best safeguard is trained personnel. The user is responsible for providing personnel
who are adequately trained to operate, program, and maintain the robot cell. The robot must not be
operated by personnel who have not been trained!
We recommend that all personnel who intend to operate, program, repair, or use the robot system be
trained in an approved Motoman training course and become familiar with the proper operation of the
system.

Manual
Chapter 2 Safety
page 4 Final
This safety section addresses the following:
• Standard Conventions (Section 2.2)
• General Safeguarding Tips (Section 2.3)
• Mechanical Safety Devices (Section 2.4)
• Installation Safety (Section 2.5)
• Programming, Operation, and Maintenance Safety (Section 2.6)
2.2 Standard Conventions
This manual includes the following alerts –in descending order of severity –that are essential to the
safety of personnel and equipment. As you read this manual, pay close attention to these alerts to
insure safety when installing, operating, programming, and maintaining this equipment.
DANGER!
Information appearing in a DANGER concerns the protection of personnel from the immediate
and imminent hazards that, if not avoided, will result in immediate, serious personal injury or
loss of life in addition to equipment damage.
WARNING!
Information appearing in a WARNING concerns the protection of personnel and equipment from
potential hazards that can result in personal injury or loss of life in addition to equipment
damage.
CAUTION!
Information appearing in a CAUTION concerns the protection of personnel and equipment,
software, and data from hazards that can result in minor personal injury or equipment damage.
Note: Information appearing in a Note provides additional information which is helpful in understanding the item being
explained.

Concurrent I/O
149230-1
Final page 5
2.3 General Safeguarding Tips
All operators, programmers, plant and tooling engineers, maintenance personnel, supervisors, and
anyone working near the robot must become familiar with the operation of this equipment. All
personnel involved with the operation of the equipment must understand potential dangers of
operation. General safeguarding tips are as follows:
• Improper operation can result in personal injury and/or damage to the equipment. Only
trained personnel familiar with the operation of this robot, the operator's manuals, the system
equipment, and options and accessories should be permitted to operate this robot system.
• Do not enter the robot cell while it is in automatic operation. Programmers must have the
teach pendant when they enter the robot cell.
• Improper connections can damage the robot. All connections must be made within the
standard voltage and current ratings of the robot I/O (Inputs and Outputs).
• The robot must be placed in Emergency Stop (E-STOP) mode whenever it is not in use.
• In accordance with ANSI/RIA R15.06-1999, section 4.2.5, Sources of Energy, use
lockout/tagout procedures during equipment maintenance. Refer also to Section 1910.147
(29CFR, Part 1910), Occupational Safety and Health Standards for General Industry
(OSHA).
2.4 Mechanical Safety Devices
The safe operation of the robot, positioner, auxiliary equipment, and system is ultimately the user's
responsibility. The conditions under which the equipment will be operated safely should be reviewed
by the user. The user must be aware of the various national codes, ANSI/RIA R15.06-1999 safety
standards, and other local codes that may pertain to the installation and use of industrial equipment.
Additional safety measures for personnel and equipment may be required depending on system
installation, operation, and/or location. The following safety equipment is provided as standard:
• Safety fences and barriers
• Light curtains and/or safety mats
• Door interlocks
• Emergency stop palm buttons located on operator station, robot controller, and
programming pendant
Check all safety equipment frequently for proper operation. Repair or replace any non-functioning
safety equipment immediately.

Manual
Chapter 2 Safety
page 6 Final
2.5 Installation Safety
Safe installation is essential for protection of people and equipment. The following suggestions are
intended to supplement, but not replace, existing federal, local, and state laws and regulations.
Additional safety measures for personnel and equipment may be required depending on system
installation, operation, and/or location. Installation tips are as follows:
• Be sure that only qualified personnel familiar with national codes, local codes, and
ANSI/RIA R15.06-1999 safety standards are permitted to install the equipment.
• Identify the work envelope of each robot with floor markings, signs, and barriers.
• Position all controllers outside the robot work envelope.
• Whenever possible, install safety fences to protect against unauthorized entry into the work
envelope.
• Eliminate areas where personnel might get trapped between a moving robot and other
equipment (pinch points).
• Provide sufficient room inside the workcell to permit safe teaching and maintenance
procedures.
2.6 Programming, Operation, and Maintenance Safety
All operators, programmers, plant and tooling engineers, maintenance personnel, supervisors, and
anyone working near the robot must become familiar with the operation of this equipment. Improper
operation can result in personal injury and/or damage to the equipment. Only trained personnel
familiar with the operation, manuals, electrical design, and equipment interconnections of this robot
should be permitted to program, operate, and maintain the system. All personnel involved with the
operation of the equipment must understand potential dangers of operation.
• Inspect the robot and work envelope to be sure no potentially hazardous conditions exist. Be
sure the area is clean and free of water, oil, debris, etc.
• Be sure that all safeguards are in place. Check all safety equipment for proper operation.
Repair or replace any non-functioning safety equipment immediately.
• Do not enter the robot cell while it is in automatic operation. Be sure that only the person
holding the programming pendant enters the workcell.
• Check the E-STOP button on the programming pendant for proper operation before
programming. The robot must be placed in Emergency Stop (E-STOP) mode whenever it is
not in use.
• Back up all programs and jobs onto suitable media before program changes are made. To
avoid loss of information, programs, or jobs, a backup must always be made before any
service procedures are done and before any changes are made to options, accessories, or
equipment.

Concurrent I/O
149230-1
Final page 7
• Any modifications to PART 1, System Section, of the robot controller concurrent I/O
program can cause severe personal injury or death, as well as damage to the robot! Do not
make any modifications to PART 1, System Section. Making any changes without the written
permission of Motoman will VOID YOUR WARRANTY!
• Some operations require standard passwords and some require special passwords. Special
passwords are for Motoman use only. YOUR WARRANTY WILL BE VOID if you use
these special passwords.
• The robot controller allows modifications of PART 2, User Section, of the concurrent I/O
program and modifications to controller parameters for maximum robot performance. Great
care must be taken when making these modifications. All modifications made to the
controller will change the way the robot operates and can cause severe personal injury or
death, as well as damage the robot and other parts of the system. Double-check all
modifications under every mode of robot operation to ensure that you have not created
hazards or dangerous situations.
• Check and test any new or modified program at low speed for at least one full cycle.
• This equipment has multiple sources of electrical supply. Electrical interconnections are
made between the controller and other equipment. Disconnect and lockout/tagout all
electrical circuits before making any modifications or connections.
• Do not perform any maintenance procedures before reading and understanding the proper
procedures in the appropriate manual.
• Use proper replacement parts.
• Improper connections can damage the robot. All connections must be made within the
standard voltage and current ratings of the robot I/O (Inputs and Outputs).

Manual
Chapter 2 Safety
page 8 Final
Notes

YASKAWA
YASKAWA MANUAL NO. RE-CKI-A442 1
NX100
Concurrent I/O
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-INSTRUCTIONS
NX100 INSTRUCTIONS
NX100 OPERATOR’S MANUAL
NX100 MAINTENANCE MANUAL
The NX100 operator’s manual above corresponds to specific usage.
Be sure to use the appropriate manual.

ii
• This manual explains the various components of the NX100 system and
general operations. Read this manual carefully and be sure to under-
stand its contents before handling the NX100.
• General items related to safety are listed in Section 1: Safety of the
NX100 Instructions. To ensure correct and safe operation, carefully
read the NX100 Instructions before reading this manual.
• 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 rep-
resentative 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 prod-
uct’s warranty.
MANDATORY
CAUTION

iii
NOTES FOR SAFE OPERATION
Read this manual carefully before installation, operation, maintenance, or inspection of the
NX100.
In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”,
“MANDATORY”, or ”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.
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 dam-
age to equipment. It may also be used to alert against unsafe
practices.
Always be sure to follow explicitly the items listed under this
heading.
Must never be performed.
To ensure safe and efficient operation at all times, be sure to follow all instructions, even if
not designated as “CAUTION” and “WARNING”.
WARNING
CAUTION
MANDATORY
PROHIBITED
NOTE

iv
• Before operating the manipulator, check that servo power is turned off
when the emergency stop button on the front door of the NX100 and the
programming pendant is pressed.
When the servo power is turned OFF, the SERVO ON READY lamp on 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
OFF the servo power.
Injury may result from unintentional or unexpected manipulator motion.
Release of Emergency Stop
• Observe the following precautions when performing teaching operations
within the working 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.
• Confirm that no persons are present in the manipulator’s work envelope
and that you are in a safe location before:
- Turning ON the NX100 power.
- Moving the manipulator with the programming pendant.
- Running check operations.
- Performing automatic operations.
Injury may result if anyone enters the working envelope of the manipulator during opera-
tion. Always press an emergency stop button immediately if there are problems. The
emergency stop button is located on the right of the front door of the NX100 and the pro-
gramming pendant.
WARNING
TURN

v
Definition of Terms Used Often in This Manual
The MOTOMAN manipulator is the YASKAWA industrial robot product.
The manipulator usually consists of the controller, the programming pendant, and manipulator
cables.
In this manual, the equipment is designated as follows.
• Perform the following inspection procedures prior to conducting manip-
ulator 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 NX100 cabi-
net after use.
The programming pendant can be damaged if it is left in the manipulator’s work area, on
the floor, or near fixtures.
• Read and understand the Explanation of Warning Labels in the NX100
Instructions before operating the manipulator.
Equipment Manual Designation
NX100 Controller NX100
NX100 Programming Pendant Programming Pendant
Cable between the manipulator and the controller Manipulator Cable
CAUTION

vi
Descriptions of the programming pendant keys, buttons, and displays are shown as follows:
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.
Equipment Manual Designation
Programming
Pendant Character Keys The keys which havecharacters printed on them are denoted with [ ]
ex. [ENTER]
Symbol Keys The keys which have a symbol printed on them are
not denoted with [ ] but depicted with a small picture.
ex. page key
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}
PAGE
BACK

vii
1Concurrent I/O
1.1 Features of Concurrent I/O . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.2 Construction and Specifications of
the Concurrent I/O. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
2Classification of I/O Signals
2.1 I/O Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
Meaning of Number. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
2.2 Register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
General Register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-4
System Register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-4
Analog Output Register. . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-5
Analog Input Register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-6
Numeric Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-6
3Configuration of I/O Signals
3.1 Arc Welding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.2 Handling, Spot Welding, and General-Purpose
Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
4Specific I/O Signals
4.1 Specific Input Signals for All Applications . . . . . . . . . . 4-1
4.2 Specific Input Signals for Arc Welding . . . . . . . . . . . . . 4-8
4.3 Specific Input Signals for Handling. . . . . . . . . . . . . . . . 4-12
4.4 Specific Input Signals for Spot Welding . . . . . . . . . . . 4-16
4.5 Specific Input Signals for
General-Purpose Applications . . . . . . . . . . . . . . . . . . . . 4-20
4.6 Specific Input Signals: Explanation . . . . . . . . . . . . . . . 4-24
4.6.1 Alarm and Message Display . . . . . . . . . . . . . . . . . . . . . . . . . .4-24
40010: SYSTEM ALARM REQUEST . . . . . . . . . . . . . . . . .4-24
40011: SYSTEM MESSAGE REQUEST . . . . . . . . . . . . . .4-25
40012: USER ALARM REQUEST. . . . . . . . . . . . . . . . . . . .4-25
40013: USER MESSAGE REQUEST . . . . . . . . . . . . . . . . .4-26
40014: ALARM RESET. . . . . . . . . . . . . . . . . . . . . . . . . . . .4-27
4.6.2 Selecting Mode/Cycle and Calling Master Job . . . . . . . . . . . .4-28
40030: MASTER JOB CALLING. . . . . . . . . . . . . . . . . . . . .4-28
40040, 40041: Selection of Modes . . . . . . . . . . . . . . . . . . .4-28

viii
40042, 40056, 40057: Selection of Operating Modes . . . . 4-28
40050 to 40052: Selection of Cycles . . . . . . . . . . . . . . . . . 4-29
4.6.3 Start and Stop Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-29
40044: EXTERNAL START . . . . . . . . . . . . . . . . . . . . . . . . 4-29
40045: EXTERNAL SERVO ON. . . . . . . . . . . . . . . . . . . . . 4-30
40054, 40065, 40066: EXTERNAL SERVO OFF. . . . . . . . 4-30
40067: EXTERNAL HOLD . . . . . . . . . . . . . . . . . . . . . . . . . 4-30
4.6.4 Operating Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-30
40016: In-Guard Safe Operating Instruction. . . . . . . . . . . . 4-30
40046: Check Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . 4-31
40047: PROHIBIT WEAVING. . . . . . . . . . . . . . . . . . . . . . . 4-31
40053: PLAY MODE ENABLE . . . . . . . . . . . . . . . . . . . . . . 4-31
40060: MACHINE LOCK . . . . . . . . . . . . . . . . . . . . . . . . . . 4-31
40061: INVALID SHOCK DETECTION . . . . . . . . . . . . . . . 4-31
40063: OVERRUN RELEASE REQUEST . . . . . . . . . . . . . 4-31
40064: EDIT LOCK. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-31
40070 to 40073: 1-Step Back Operating Instruction. . . . . . 4-32
40090 to 40093: SEQUENCE WAIT. . . . . . . . . . . . . . . . . . 4-32
40110 to 40113: Work Home Position Return Request . . . 4-35
40337: PP Buzzer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-35
4.6.5 Independent Control Signals (Optional) . . . . . . . . . . . . . . . . . 4-35
40021 to 40027:
SUB 1, 2, 3, 4, 5, 6, 7 ALARM REQUEST . . . . . . . . . . . . . 4-35
40031 to 40037: SUB1, 2, 3, 4, 5, 6, 7 MASTER CALL . . . 4-35
40170 to 40177:
SUB 1, 2, 3, 4, 5, 6, 7, and MASTER START REQUEST . 4-36
40180 to 40187: SUB 1, 2, 3, 4, 5, 6, 7 HOLD REQUEST. 4-36
4.6.6 Signals for Arc Welding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-36
40570, 40630, 40690, 40750:
WORK START RESPONSE. . . . . . . . . . . . . . . . . . . . . . . . 4-36
40571, 40631, 40691, 40751: WORK END RESPONSE . 4-36
40572, 40632, 40692, 40752: WORK TIME MEASURE. . 4-36
40573, 40633, 40693, 40753: TIP REPLACEMENT
COMPLETED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-37
40574, 40634, 40694, 40754: NOZZLE CLEANING
COMPLETED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-37
40575, 40635, 40695, 40755: RETRY REQUEST . . . . . . 4-37
40576, 40636, 40696, 40756:
RETRY RETURN REQUEST. . . . . . . . . . . . . . . . . . . . . . . 4-37
40577, 40637, 40697, 40757:
AUTOMATIC ANTI-STICKING REQUEST. . . . . . . . . . . . . 4-37
40580, 40640, 40700, 40760:
RESTART REQUEST (ARC SHORTAGE) . . . . . . . . . . . . 4-37
40581, 40641, 40701, 40761:
RESTART REQUEST (GAS SHORTAGE) . . . . . . . . . . . . 4-38
40582, 40642, 40702, 40762:
RESTART REQUEST (WIRE SHORTAGE). . . . . . . . . . . . 4-38
40583, 40643, 40703, 40763:
RESTART RESET PROCESS . . . . . . . . . . . . . . . . . . . . . 4-38
40584, 40644, 40704, 40764: RETRY TIMES CLEAR . . . 4-38

ix
40585, 40645, 40705, 40766:
ARC SHORTAGE RESTART TIMES CLEAR . . . . . . . . . .4-38
40586, 40646, 40706, 40766:
AUTOMATIC ANTI-STICKING TIMES CLEAR. . . . . . . . . .4-38
40600, 40660, 40720, 40780: SENSING PROHIBIT. . . . .4-39
4.6.7 Signals for Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-39
40570, 40630, 40690, 40750: WORK START RESPONSE4-39
40571, 40631, 40691, 40751: WORK END RESPONSE . .4-39
40572, 40632, 40692, 40752: WORK TIME MEASURE. . .4-39
40580 to 40587, 40640 to 40647, 40700 to 40707,
40760 to 40767: SENSOR INPUT . . . . . . . . . . . . . . . . . . .4-39
4.6.8 Signals for Spot Welding. . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-40
40572, 40632, 40692, 40752: WORK TIME MEASURE. . .4-40
40575, 40585, 40595, 40605:
ELECTRODE REPLACEMENT . . . . . . . . . . . . . . . . . . . . .4-40
40587, 40597, 40607, 40617: WELDING STOP. . . . . . . . .4-40
4.6.9 Signals for General-Purpose Applications. . . . . . . . . . . . . . . .4-40
40570, 40630, 40690, 40750: WORK START RESPONSE4-40
40571, 40631, 40691, 40751: WORK END RESPONSE . .4-41
40572, 40632, 40692, 40752: WORK TIME MEASURE. . .4-41
4.7 Specific Output Signals for All Applications . . . . . . . 4-42
4.8 Specific Output Signals for Arc Welding. . . . . . . . . . . 4-52
4.9 Specific Output Signals for Handling. . . . . . . . . . . . . . 4-56
4.10 Specific Output Signals for Spot Welding. . . . . . . . 4-60
4.11 Specific Output Signals for General-Purpose
Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-64
4.12 Specific Output Signals: Explanation . . . . . . . . . . . . 4-68
4.12.1 Alarms and Messages Display . . . . . . . . . . . . . . . . . . . . . . .4-68
50010 to 50014: ALARM/ERROR OCCURRENCE . . . . . .4-68
50015, 50016: BATTERY WEAK . . . . . . . . . . . . . . . . . . . .4-68
50017: COOLING FAN ERROR . . . . . . . . . . . . . . . . . . . . .4-68
4.12.2 Setting of Mode / Cycle and Particular Play Operation. . . . .4-68
50050 to 50052: CYCLE SETTING. . . . . . . . . . . . . . . . . . .4-68
50053 to 50054: MODE SETTING . . . . . . . . . . . . . . . . . . .4-69
50056: COMMAND REMOTE SETTING. . . . . . . . . . . . . . .4-69
50060: IN-GUARD SAFE OPERATION SETTING . . . . . . .4-69
50061: DRY-RUN SETTING . . . . . . . . . . . . . . . . . . . . . . . .4-69
50062: MACHINE LOCK SETTING . . . . . . . . . . . . . . . . . .4-69
50063: SOFT LIMIT RELEASE SETTING . . . . . . . . . . . . .4-69
50064: CHECK RUN SETTING . . . . . . . . . . . . . . . . . . . . .4-69
4.12.3 Start and Stop Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-69
50020: HEAD OF MASTER JOB . . . . . . . . . . . . . . . . . . . .4-69
50065: PERMISSIBLE WORK IN TEST RUN
(FOR ARC ONLY). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-69
50066: POSITION CHECK COMPLETED . . . . . . . . . . . . .4-70
50067: FULL SPEED RUNNING. . . . . . . . . . . . . . . . . . . . .4-70
50070: RUNNING (Start Lamp). . . . . . . . . . . . . . . . . . . . . .4-70
50071: HOLDING (Hold Lamp). . . . . . . . . . . . . . . . . . . . . .4-70

x
50073: SERVO ON. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-70
50074: I/O SIMULATED . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-70
50075: JOB EDITING OPERATION INDICATION. . . . . . . 4-70
50076: JOG OPERATION INDICATION . . . . . . . . . . . . . . 4-70
50077: OT RELEASE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-71
50180 to 50197: SERVO ON STATUS. . . . . . . . . . . . . . . . 4-71
50200, 50201, 50202, 50203: SEQUENCE WAITING. . . . 4-71
50220, 50221, 50222, 50223: SEQUENCE CONTINUING 4-71
50240 to 50243: CONTROL GROUP RUNNING. . . . . . . . 4-71
50260, 50261, 50262, 50283:
WORK RESTART PROHIBIT. . . . . . . . . . . . . . . . . . . . . . . 4-72
50264, 50265, 50266, 50267:
PERMISSIBLE WORK RUNNING . . . . . . . . . . . . . . . . . . . 4-72
50270, 50271, 50272, 50273: SEARCH START . . . . . . . . 4-72
50280, 50281, 50282, 50283: LOCUS DEVIATION. . . . . . 4-72
50350, 50351, 50352: SECURITY MODE . . . . . . . . . . . . . 4-73
50354: PLAY MODE ENABLE . . . . . . . . . . . . . . . . . . . . . . 4-73
4.12.4 Interference Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-73
50080 to 50117: IN-CUBE . . . . . . . . . . . . . . . . . . . . . . . . . 4-73
50140, 50141, 50150, 50151, 50160, 50161, 50170,
50171: S-AXIS INTERFERENCE AREA . . . . . . . . . . . . . . 4-73
50142, 50144, 50146, 50147, 50152, 50154, 50156,
50157, 50162, 50164, 50166, 50167, 50172 to 50177:
MOVING SPHERE INTERFERENCE AREA . . . . . . . . . . . 4-73
4.12.5 Arithmetic Instruction Signal. . . . . . . . . . . . . . . . . . . . . . . . . 4-74
50640, 50641, 50642: Arithmetic Flag . . . . . . . . . . . . . . . . 4-74
4.12.6 Signals During Operation and for Jog Offset Junction
(Optional) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-74
50021, 50022, 50023, 50024, 50025, 50026, 50027:
TOP SUB 1, 2, 3, 4, 5, 6, 7 MASTER. . . . . . . . . . . . . . . . . 4-74
50031, 50032, 50033, 50034, 50035, 50036, 50037:
SUB HELD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-74
50041, 50042, 50043, 50044, 50045, 50046, 50047:
SUB ALARM OCCUR. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-74
50143, 50145, 50153, 50155, 50163, 50165:
CRD WORKING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-75
50320 to 50327:
SUB 1, 2, 3, 4, 5, 6, 7, MASTER OPERATING . . . . . . . . . 4-75
50330 to 50337:
SUB 1, 2, 3, 4, 5, 6, 7, MASTER HOLDING. . . . . . . . . . . . 4-75
4.12.7 Signals for Servo Float Function (Optional) . . . . . . . . . . . . . 4-75
50274, 50275, 50276, 50277: SERVO FLOAT ON . . . . . . 4-75
50300 to 50303: SHOCK DETECTION VALID. . . . . . . . . . 4-75
50357: SHOCK DTCT ALM . . . . . . . . . . . . . . . . . . . . . . . . 4-75
4.12.8 Singals for Arc Welding . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-76
50770, 50830, 50890, 50950: WORK START Instructions 4-76
50771, 50831, 50891, 50951: WORK END Instructions. . . 4-76
50772, 50832, 50892, 50952: WORK CONTINUING
PROHIBIT Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-76
50773, 50833, 50893, 50953:
TIP REPLACEMENT REQUEST . . . . . . . . . . . . . . . . . . . . 4-77