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BA II Arm Robot Catalog - TM Robotics - #233

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Technical Notes
Details of Input and Output, and Example Connection
Master unit: CA20-M10, CA20-M40
[Details of system input and output] * For the table of I/O pin numbers, see Page 199. [System input]
Sequential mode Palletizing mode
Pin No.
Signal name
External point designation mode
Remarks
ON: Start of home position return motion
28
Home return
Same as left.
ON
Detection of rising edge.
ON —Ï '-
ON: Restart from currently stopped step or from temporary halt status.
ON: Start of axis feed as per currently specified table information.
29
Start
ON
ON: Stop after current step has been executed.
When this input is ON, home return and start input are inoperative.
30
Stop
Invalid
ON: Reset of error condition. (Effective while program execution is stopped.)
31
Reset
ON: Reset of error condition.
Home return input is also possible from the general-purpose input port by mode setting of the controller.
[System output]
Pin No.
Signal name
Sequential mode Palletizing mode
External point designation mode
Remarks
11
Running
ON during controller running and home return motion.
ON during robot operation.
12
Error
ON at error generation.
Same as left.
13
Positioning fnish
ON when the robot has been positioned at a predetermined position.
OFF while the robot is moving. (OFF while the robot is paused.)
Same as left.
14
Home return fnish
ON when home return is unnecessary at execution of move command. OFF when home return is necessary.
ON when home return is unnecessary at execution of move command. OFF when home return is necessary.
15
Home position LS
Output of home position limit switch status of axis.
Same as left.
16
Z-phase
Output of Z-phase signal which is output from axis motor encoder.
Same as left.
(Applicable to master unit, slave unit and extension I/O unit.) * The setting function varies with the system setting operation of controller.
[Input and output that can be assigned to general-purpose I/O port]
Signal name
* Setting function
Sequential mode Palletizing mode
External point designation mode
Input/output
Robot single operation
Input
The single operation mode is operative when this input is ON with the start input or start key set ON.
In this mode, axis feed command and output command are inhibited.
Inoperative.
Restart
Input
Even if the power is turned off or reset while this input is ON, contents of counter, etc., are not cleared.
Inoperative.
Escape
Input
When this input is ON during execution of MVE command, an axis slows down and stops, and the system interprets that the relevant step has finished.
Inoperative.
Pause (feed hold)
Input
ON: Feed hold (slowdown and stop).
To restart, set ON the start input. To cancel, set ON the reset input.
Program selection 2° Program selection 21 Program selection 22
Input
Input signal for specifying a program number ( No.1 - No.8) at program selection.
Inoperative.
Home return
Input
ON: Start of home return motion. (Initial setting is assigned to Pin 28.)
Palletizing
Input
ON: Palletizing mode OFF: Sequential mode
(While the easy, external point designation or pulse train input mode is selected, this input is invalid.)
Inoperative.
Wait for input
Output
ON when the system is waiting for an input during program execution.
Inoperative.
Pausing
Output
ON when an axis has slowed down and stopped after recognizing pause input. (OFF when the pause mode is canceled.)
Ready
Output
ON when the teach pendant and RS232C are inoperative and no error is generated.
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