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BA II Arm Robot Catalog - TM Robotics - #239

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Text version of the page
Technical Notes
High-performance master unit: (designed for CC-Link) CAI 0-M01B-CC [Details of input and output]
* For the table of I/O pin numbers, see Page 205.
[System input]
Remote output
Signal name
Sequential mode Palletizing mode
External point designation mode
Remarks
RYnO
Home return
ON: Start of home position return motion
Home return
Detection of rising edge.
ON —^ '-
t
ON-1 1-
RYnl
Start
ON: Restart from currently stopped step or from hold feed status.
ON: Start of axis feed as per currently specified table information.
RYn2
Stop
ON: Stop after current step has been executed.
Invalid
When this input is ON, home return and start input are inoperative.
RYn3
Reset
ON: Reset of error condition. (Effective while program execution is stopped.)
ON: Reset of error condition.
RY(n+4)8 RY(n+4)F
Jog input
Jogging of a selected axis by specifying one of the three modes (inching, low-speed move, high-speed move) and move direction.
[System output]
Remote input
Signal name
Sequential mode Palletizing mode
External point designation mode
Remarks
RXnO
Running
ON during controller running and home return motion.
ON during robot operation.
RXnl
Error
ON at error generation.
Same as left.
RXn2
Positioning finish
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.
RXn3
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.
RX(n+4)8 RX(n+4)F
Jog output
Indication of jog acceptance or rejection, status during axis motion, etc.
[Input and output that can be assigned to general-purpose I/O port]
(Applicable to high-performance master unit, slave unit and extension I/O unit.) * The setting function changes with the system setting operation of controller.
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 Program selection 23
Input
Input signal for specifying a program number (No.1 — No.16) at program selection.
Inoperative.
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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