Kawasaki E series External I/o Manual

90204－1023DEF External I/O Manual Kawasaki Robot Controller E Series ...

Kawasaki Robot External I/O Manual 1 PREFACE This manual describes external I/O signals for the Kawasaki Robot Controller E series. This manual also explains procedures for connecting the controller and an external device. For supplying primary source and operations of robot, see Operation Manual, a separate manual. Please understand the contents of this manual thoroughly and perform operations carefully. 1. This manual does not consti ...

Kawasaki Robot External I/O Manual 2 SYMBOLS The items that require special attention in this manual are designated with the following symbols. Ensure proper and safe operation of the robot and prevent physical injury or property damage by complying with the safety matters given in the boxes with these symbols. [ NOTE ] Denotes precautions regarding robot specification, handling, teaching, operation and maintenance. Failure to comply w ...

Kawasaki Robot External I/O Manual 3 INTRODUCTORY NOTES 1. HARDWARE KEYS AND SWITCHES (BUTTON) E series controller provides hardware keys and switches on the operation panel and the teach pendant for various kinds of operations. In this manual the names of the hardware keys and switches are enclosed with a square as follows. The terms “key” or “switch” which should follow the relevant names are sometimes omitted for simpler e ...

Kawasaki Robot External I/O Manual 4 1.0 Types of External I/O Signal ·································································· 6 1.1 Hardware Dedicated Signals ·································································· 7 1.2 Software Dedicated Signals ··················� ...

Kawasaki Robot External I/O Manual 5 Appendix 2.0 External Program Selection Function ············································ A-3 Appendix 2.1 Using IF Instruction to Switch between Programs ····························· A-4 Appendix 2.2 Using RPS Function to Switch between Programs ····························· A-5 Appendix 2.3 U ...

1. Types of External I/O Signal Kawasaki Robot External I/O Manual 6 1.0 TYPES OF EXTERNAL I/O SIGNAL When using a robot for various applications, some features may be required, such as an interlock system with peripheral equipment, a central control of HOLD/RUN, or a safety interlock. To enable control of these functions, external I/O (input/output) signals are used to communicate information to and from the peripheral equipment. Ex ...

1. Types of External I/O Signal Kawasaki Robot External I/O Manual 7 1.1 HARDWARE DEDICATED SIGNALS The hardware dedicated signals can be used mainly for external remote operation by changing the wiring in the hardware. They are connected to the terminal block on 1TR board. (See 2.0 Requirements for Connecting External I/O Signals.) The following 6 types of hardware dedicated signals are available: Input: 1. External control power O ...

1. Types of External I/O Signal Kawasaki Robot External I/O Manual 8 1.2 SOFTWARE DEDICATED SIGNALS Once their initial settings have been made, software dedicated signals can be used for external remote control and interlock configurations. When a software dedicated signal is used, it occupies a portion of the general purpose signals in the system. Therefore, the number of general purpose signals decrease as the software dedicated si ...

1. Types of External I/O Signal Kawasaki Robot External I/O Manual 9 1.2.1 SOFTWARE DEDICATED INPUT SIGNALS Signal Name Function Signal Type External motor power ON (EXT. MOTOR ON) Turns the motor power ON externally. (Functions in same way as the MOTOR ON key.) External error reset (EXT. ERROR RESET) Resets errors externally. (Functions in same way as the key.) External cycle start (EXT. CYCLE START) Sets the cycle sta ...

1. Types of External I/O Signal Kawasaki Robot External I/O Manual 10 Signal Name Function Signal Type External slow repeat (EXT. SLOW REPEAT MODE) Decreases repeat speed temporarily and externally. The speed is set by Aux. function A-0508. (Refer to Operation Manual.) I/F panel page N selection (I/F PANEL PAGE N SELECT) Displays the I/F panel on TP. The corresponding I/F panel page is displayed when this signal is input. Auto save co ...

1. Types of External I/O Signal Kawasaki Robot External I/O Manual 11 Explanation of Signal Type : Leading edge is detected. Recommended for Pulse signals. : Trailing edge is detected. Recommended for Pulse signals. : Leading edge is detected. : Level is detected. ...

1. Types of External I/O Signal Kawasaki Robot External I/O Manual 12 1.2.2 SOFTWARE DEDICATED OUTPUT SIGNALS Signal Name Function Signal Type Motor power ON (MOTOR ON) Indicates that the motor power is ON. Functions in same way as the MOTOR POWER lamp on TP. Error occurrence (ERROR) Indicates that an error occurred. (Functions in same way as the ERROR display on TP.) Automatic (AUTOMATIC) Indicates that all the conditions set in Aux ...

1. Types of External I/O Signal Kawasaki Robot External I/O Manual 13 Signal Name Function Signal Type RPS-ST Indicates robot is ready to switch to the external program number at the step where auxiliary data of END is taught. (Refer to Appendix 2.0.) JUMP-ST Indicates robot is ready to switch to the external program number at the step where auxiliary data of JUMP is taught. (Refer to Appendix 2.0.) Program number (Program number) The ...

1. Types of External I/O Signal Kawasaki Robot External I/O Manual 14 1.3 GENERAL PURPOSE I/O SIGNALS The general purpose I/O signals are assigned by block teaching or AS language programming. Signals are then output to ports or input from ports when executing the program in repeat mode. They are connected to connectors CN2 and CN4 on 1TW board. (Refer to 2.0 Requirements for Connecting External I/O Signals.) In terms of hardware conf ...

1. Types of External I/O Signal Kawasaki Robot External I/O Manual 15 1.3.2 I/O TIMING OF GENERAL PURPOSE SIGNALS Teaching procedure for general purpose signals is different for block teaching and AS language programming. Fully understand the I/O timing of general purpose signals before using. 1.3.2.1 I/O TIMING THROUGH TEACHING In block teaching, the information below is taught together all at once in each step using teach pendant. 1 ...

1. Types of External I/O Signal Kawasaki Robot External I/O Manual 16 3. Normally, upon reaching the accuracy range of step 9, the robot starts to approach the taught point of step 10 and OX6 is turned OFF immediately (because OX6 is not taught in step 10). In this example, however, the controller waits for input of WX3, because WX3 is taught in step 9. Step 9 does not switch to 10 until WX3 is input. 4. When WX3 is input, the step sw ...

1. Types of External I/O Signal Kawasaki Robot External I/O Manual 17 Instruction Function SWAIT Waits until conditions for the general purpose input signals are satisfied. SIG( ) Determines if conditions are satisfied for the general purpose input signals. BITS( ) Reads the general purpose input signals specified by its parameters. ON/ONI Interrupts program execution upon receiving the general purpose input signals. The timing of gene ...

1. Types of External I/O Signal Kawasaki Robot External I/O Manual 18 3. Robot moves to #lc4 when IN3 turns ON. If IN3 is ON after robot has started signal monitoring but before arriving at #1c3, then the monitoring is disabled immediately and the robot moves to #1c4 without waiting. Generally, OUT signals do not turn OFF when the robot stops due to motor power OFF or HOLD, unlike OX signals. If defined by RUNMASK instruction, OUT si ...

2. Requirements for Connecting External I/O Signals Kawasaki Robot External I/O Manual 19 2.0 REQUIREMENTS FOR CONNECTING EXTERNAL I/O SIGNALS Requirements for connecting external I/O signals differ for hardware signals and general purpose I/O signals (including software dedicated signals). 2.1 HARDWARE DEDICATED SIGNALS When using the hardware dedicated signals, connect them to the terminal block on 1TR board and comply with the requi ...