Concurrent I/O•Parameter - Motoman

1.11 I/O Except Concurrent I/OCAUTION• Use the “FORCE” (Forced release) input with normally open circuit.• Use the switch which has the key for “FORCE” input. The manager of the system isresponsible for storage of the key.• When “FORCE” is input, any deadman switch is invalidated.StateStateStateRisingState‘EXESP: FOR EXTERNAL EMERGENCY STOPThis signal allows use of the emergency stop switch from an external source. Whenthis signal is input, the servo power goes off, and job execution is stopped. At thistime, the servo power cannot be turned on. This function becomes invalid by connecting the jumper wire.EXHOLD: FOR EXTERNAL HOLDThis signal allows use of the hold switch from an external source. When this signal isinput, the job execution stops. At this time, the start and axis functions cannot beused. This function becomes invalid by connecting the jumper wire.SAF_F: FOR SAFETY PLUGThis signal turns off the servo power when the door of the safeguard is open. Installan interlock signal such as safety plugs in door of the safeguard. When the interlocksignal is input, the servo power goes off, and the servo power cannot be turned on.However, this signal is invalid in the teach mode.EXSVON: FOR EXTERNAL SERVO ONThis signal turns on the servo power. Use the signal to turn on the servo power fromthe outside. Apart from this signal, specific input (4045) for external servo on signal isprovided. At this time, the function becomes invalid by connecting the jumper wire.For safer use of the robot, use of this signal (EXSVON) which has no intervention ofladder (software) is recommended.DIN1 to 4: FOR DIRECT IN INPUT SIGNALThis signal can be used in conjunction with the search function.StateFORCE: FORCED RELEASE INPUT SIGNALThis signal disables the deadman switch. Be sure to use a switch with the key forsafety. Be sure a manager is in posession of the key.1-73