YASKAWA NX100 Concurrent IO Manual PDF

Motoman NX100 Controller
Concurrent I/O
Manual
Part Number: 149230-1CD

Revision: 3
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]
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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.
Concurrent I/O
149230-1
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)
Operators Manual for your application
Vendor manuals for system components not manufactured by Motoman
Final page 1
Manual
Chapter 1 Introduction
1.3 Customer Service Information

If you are in need of technical assistance, contact the Motoman service staff at (937) 847-3200. 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)
page 2 Final
Concurrent I/O
149230-1
Chapter 2
Safety
2.1 Introduction
It is the purchasers 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:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: (734) 994-6088
FAX: (734) 994-3338
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.
Final page 3
Manual
Chapter 2 Safety
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.
page 4 Final
Concurrent I/O
149230-1
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.
Final page 5
Manual
Chapter 2 Safety
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.
page 6 Final
Concurrent I/O
149230-1
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).
Final page 7
Manual
Chapter 2 Safety
Notes
page 8 Final
YASKAWA
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 OPERATORS MANUAL
NX100 MAINTENANCE MANUAL
The NX100 operators manual above corresponds to specific usage.
Be sure to use the appropriate manual.
YASKAWA MANUAL NO. RE-CKI-A442 1

MANDATORY
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.
CAUTION
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-
ucts warranty.
ii
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.
Indicates a potentially hazardous situation which, if not avoided,

WARNING could result in death or serious injury to personnel.
Indicates a potentially hazardous situation which, if not avoided,

CAUTION 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

MANDATORY heading.
PROHIBITED Must never be performed.
Even items described as CAUTION may result in a serious accident in some situations. At
any rate, be sure to follow these important items.
NOTE To ensure safe and efficient operation at all times, be sure to follow all instructions, even if
not designated as CAUTION and WARNING.
iii
WARNING
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.

TURN
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 manipulators 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.
iv
CAUTION
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 manipulators work area, on
the floor, or near fixtures.
Read and understand the Explanation of Warning Labels in the NX100

Instructions before operating the manipulator.
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.
Equipment Manual Designation
NX100 Controller NX100
NX100 Programming Pendant Programming Pendant
Cable between the manipulator and the controller Manipulator Cable
v
Descriptions of the programming pendant keys, buttons, and displays are shown as follows:
Equipment Manual Designation
Programming Character Keys The keys which have characters printed on them are
Pendant 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.
BACK
ex. page key PAGE
The cursor key is an exception, and a picture is not

shown.
Axis Keys Axis Keys and Number Keys are generic names
Number Keys for the keys for axis operation and number input.
Keys pressed When two keys are to be pressed simultaneously,

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}
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.
vi
1 Concurrent I/O
1.1 Features of Concurrent I/O . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.2 Construction and Specifications of
the Concurrent I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
2 Classification 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
3 Configuration of I/O Signals

3.1 Arc Welding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.2 Handling, Spot Welding, and General-Purpose
Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
4 Specific 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
vii
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
viii
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
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
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
ix
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
x
50774, 50834, 50894, 50954:
NOZZLE CLEANING REQUEST . . . . . . . . . . . . . . . . . . . .4-77
50775, 50835, 50895, 50955: INCHING . . . . . . . . . . . . . . .4-77
50776, 50836, 50896, 50956: RETRACT . . . . . . . . . . . . . .4-77
50777, 50837, 50897, 50957:
RETRY RETURN PROCESSING . . . . . . . . . . . . . . . . . . . .4-77
50780, 50840, 50900, 50960: RESTART PROCESSING
(ARC SHORTAGE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-78
(GAS SHORTAGE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-78
(WIRE SHORTAGE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-78
50783, 50843, 50903, 50963: RESTART RETURN
PROCESSING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-78
50784, 50844, 50904, 50964: RETRY SETTING TIME
EXCEEDED. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-78
50785, 50845, 50905, 50965, : ARC SHORTAGE
RESTART SETTING TIMES EXCEEDED . . . . . . . . . . . . .4-78
50786, 50846, 50906, 50966: AUTOMATIC ANTI-STICKING
SETTING TIMES EXCEEDED . . . . . . . . . . . . . . . . . . . . . .4-79
50787, 50847, 50907, 50967: RETRY REPLAY MODE . . .4-79
4.12.9 Signals for Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-79
50776, 50836, 50896, 50956:
SHOCK SENSOR FUNCTION SELECT. . . . . . . . . . . . . . .4-79
50777, 50837, 50897, 50957: SHOCK SENSOR INPUT . .4-79
50780 to 50787, 50840 to 50847, 50900 to 50907,
50960 to 50967: TOOL VALVE OUTPUT . . . . . . . . . . . . . .4-79
4.12.10 Signals for Spot Welding . . . . . . . . . . . . . . . . . . . . . . . . . .4-80
50773, 50783, 50793, 50803:
WEAR DETECTION NORMAL . . . . . . . . . . . . . . . . . . . . . .4-80
50774, 50784, 50794, 50804:
WEAR DETECTION ERROR (Motor Gun) . . . . . . . . . . . . .4-80
50775, 50785, 50795, 50805:
CHANGE TIP ALM (Motor Gun) . . . . . . . . . . . . . . . . . . . . .4-80
50776, 50786, 50796, 50806: SVSPOT EXECUTE
(Motor Gun) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-80
50777: WELDING ON/OFF . . . . . . . . . . . . . . . . . . . . . . . . .4-80
50780, 50790, 50800, 50810: SENSOR DETECTING . . . .4-80
4.12.11 Signals for General-Purpose Applications . . . . . . . . . . . . .4-81
50770, 50830, 50890, 50950: WORK START Instructions .4-81
50771, 50831, 50891, 50951: WORK END Instructions . . .4-81
50772, 50832, 50892, 50952:
WORK CONTINUING PROHIBIT Instructions . . . . . . . . . .4-81
5 Internal Signal Used in Standard Ladder

5.1 Signals for Arc Welding . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.2 Signals for Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.3 Signals for Spot Welding . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
xi
5.4 Signals for General-Purpose Applications . . . . . . . . . . 5-6
6 Internal Control Status Signals

6.1 Internal Control Status Signals . . . . . . . . . . . . . . . . . . . . . 6-1
6.1.1 Internal Control Status Signal (Monitor) . . . . . . . . . . . . . . . . . . 6-4
80010: EDITING PROHIBITION. . . . . . . . . . . . . . . . . . . . . . 6-4
80011 to 80013: MODE SELECTION. . . . . . . . . . . . . . . . . . 6-4
80015: *PROGRAMMING PENDANT PANEL HOLD . . . . . 6-4
80016: OPERATION START . . . . . . . . . . . . . . . . . . . . . . . . 6-4
80017: SERVO POWER ON . . . . . . . . . . . . . . . . . . . . . . . . 6-5
80023: *SAFETY PLUG INPUT . . . . . . . . . . . . . . . . . . . . . . 6-5
80024: *NCP01 CPU ERROR . . . . . . . . . . . . . . . . . . . . . . . 6-5
80025: *EXTERNAL EMERGENCY STOP . . . . . . . . . . . . . 6-5
80026: *PROGRAMMING PENDANT EMERGENCY STOP 6-5
80027: * NX100 DOOR EMERGENCY STOP . . . . . . . . . . . 6-5
80031: SERVO ON CONDITION 1. . . . . . . . . . . . . . . . . . . . 6-5
80032: MAINTENANCE INPUT . . . . . . . . . . . . . . . . . . . . . . 6-6
80033: SERVO ON CONDITION 2. . . . . . . . . . . . . . . . . . . . 6-6
80034: DEADMAN SWITCH INPUT. . . . . . . . . . . . . . . . . . . 6-6
80035: *EXTERNAL HOLD . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
80036: EXTERNAL DEADMAN SWITCH INPUT. . . . . . . . . 6-6
80037: EXTERNAL SERVO ON INPUT . . . . . . . . . . . . . . . . 6-6
80040: SAFE SPEED 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
80041: SAFE SPEED 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
80046: SAFE SPEED MODE SELECT . . . . . . . . . . . . . . . . 6-7
80047: FULL-SPEED TEST . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
80050: 24V OK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
80051: EXTERNAL 24V OK . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
80060: *SHOCK SENSOR OPERATION HOLD . . . . . . . . . 6-7
80061: *SERVO ON ENABLED . . . . . . . . . . . . . . . . . . . . . . 6-7
80062: *BRAKE FUSE BLOWN-OFF . . . . . . . . . . . . . . . . . . 6-7
80064: *SERVO CPU ERROR . . . . . . . . . . . . . . . . . . . . . . . 6-8
80065: *SHOCK SENSOR OPERATION
EMERGENCY STOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
80066: *EXTERNAL AXIS OVERTRAVEL . . . . . . . . . . . . . . 6-8
80067: *OVERTRAVEL . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
80070 to 80073: DIRECT IN (SYSTEM) 1 to 4. . . . . . . . . . . 6-8
80080 to 80084: DIRECT IN (SERVO) 1 to 5. . . . . . . . . . . . 6-8
7 Pseudo Input Signals

7.1 Pseudo Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
82014 to 82016: REMOTE FUNCTION SELECTION . . . . . 7-1
82020 to 82027: SIGNAL SELECT STATUS
(SPOT WELDING) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
xii
8 Network I/O Signals
9 Interface Panel Signals
10 I/O Except Concurrent I/O

10.1 Hardware Specific Input . . . . . . . . . . . . . . . . . . . . . . . . . 10-1
10.2 I/O Except Concurrent I/O: Explanation . . . . . . . . . 10-3
EXESP: FOR EXTERNAL EMERGENCY STOP . . . . . . . .10-3
EXHOLD: FOR EXTERNAL HOLD . . . . . . . . . . . . . . . . . . .10-3
SAFF: FOR SAFETY PLUG . . . . . . . . . . . . . . . . . . . . . . . .10-3
EXSVON: FOR EXTERNAL SERVO ON . . . . . . . . . . . . . .10-3
CPDIN1 to 4: FOR DIRECT IN (SYSTEM)
INPUT SIGNAL 1 to 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-4
AXDIN1 to 5: FOR DIRECT IN (SERVO)
INPUT SIGNAL 1 to 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-4
MAINTE: MAINTENANCE INPUT SIGNAL. . . . . . . . . . . . .10-4
11 Register
11.1 Common Usage for All Applications . . . . . . . . . . . . . 11-1
11.1.1 General Register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-1
11.1.2 System Register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-3
11.2 Arc Welding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-5
11.3 Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-6
11.4 General Purposes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-7
11.5 Spot Welding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-8
12 Standard Ladder Program

12.1 List of Usable Instructions . . . . . . . . . . . . . . . . . . . . . . . 12-1
12.2 Instruction Description . . . . . . . . . . . . . . . . . . . . . . . . . . 12-6
STR Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-6
STR-NOT Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-6
AND Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-7
AND-NOT Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-7
OR Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-8
OR-NOT Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-8
AND-STR Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-9
OR-STR Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-9
xiii
OUT Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-10
PART Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-10
END Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-11
TMR Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-11
CNT Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-12
GSTR Instruction / GOUT Instruction . . . . . . . . . . . . . . . . 12-14
PLS Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-14
PLF Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-15
ADD Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-16
SUB Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-17
MUL Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-18
DIV Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-19
MOD Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-20
BIN Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-21
BCD Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-22
MOV Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-23
WAND Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-24
WOR Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-25
WXOR Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-26
WNOT Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-27
SHL Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-28
SHR Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-29
ROL Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-30
ROR Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-31
12.3 Arithmetic Flag . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-32
Flag Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-32
Flag Transition under Scanning . . . . . . . . . . . . . . . . . . . . 12-32
12.4 Arc Welding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-33
Ladder Program List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-33
I/O Alarm. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-65
I/O Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-66
USER OPEN SIGNALS . . . . . . . . . . . . . . . . . . . . . . . . . . 12-67
12.5 Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-69
LADDER PROGRAM LIST . . . . . . . . . . . . . . . . . . . . . . . . 12-69
I/O ALARM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-86
I/O Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-87
12.6 Spot Welding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-88
Ladder Program List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-88
I/O Alarm. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-106
I/O Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-107
12.7 General-Purpose Applications . . . . . . . . . . . . . . . . . 12-108
LADDER PROGRAM LIST . . . . . . . . . . . . . . . . . . . . . . . 12-108
I/O ALARM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-124
I/O MESSAGE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-125
xiv
13 How to Monitor Signals
13.1 Monitoring I/O Signals . . . . . . . . . . . . . . . . . . . . . . . . . . 13-1
13.1.1 I/O Windows . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13-1
13.2 I/O Status Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-3
13.2.1 Universal Output Window . . . . . . . . . . . . . . . . . . . . . . . . . . .13-5
13.2.2 Universal Input Window . . . . . . . . . . . . . . . . . . . . . . . . . . . .13-6
13.2.3 Changing Signal Status from the External Output
Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13-10
13.2.4 Changing Signal Status from the External Input
Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13-13
13.3 Pseudo Input Signal Window . . . . . . . . . . . . . . . . . . . 13-16
13.4 Register Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-19
13.5 Servo Power Status Window . . . . . . . . . . . . . . . . . . . 13-23
13.6 Analog Output Window . . . . . . . . . . . . . . . . . . . . . . . . . 13-24
13.7 I/O Messages and I/O Alarms . . . . . . . . . . . . . . . . . 13-25
13.7.1 Registering the User Section . . . . . . . . . . . . . . . . . . . . . . .13-25
13.8 Ladder Program Window . . . . . . . . . . . . . . . . . . . . . . . 13-27
14 Editing Ladder Programs

14.1 Flow of Data by Ladder Programs . . . . . . . . . . . . . . 14-1
14.2 Editing by Mnemonic and Ladder Editor Program 14-2
14.3 Mnemonic Editing Window . . . . . . . . . . . . . . . . . . . . . 14-3
14.3.1 Basic Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14-3
14.3.2 Editing Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14-5
Inserting Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14-5
Changing Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14-8
Delete Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14-10
Editing Operands. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14-11
Cancelling Editing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14-12
14.3.3 Compile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14-13
14.3.4 Search. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14-14
Top Line, End Line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14-15
Search for Line No. and Block No. . . . . . . . . . . . . . . . . . .14-15
Search for Relay No. and Register No. . . . . . . . . . . . . . . .14-16
15 Clearing Signals
15.1 Clearing the Universal Output Signals . . . . . . . . . . . 15-1
Clearing Signals when Powering ON . . . . . . . . . . . . . . . . .15-1
Clearing Signals when Changing the Teach/Play Mode . . .15-1
15.2 Clearing the Interface Panel Signals . . . . . . . . . . . . 15-3
xv
Clearing Signals when Powering ON . . . . . . . . . . . . . . . . . 15-3
15.3 Clearing the Auxiliary Relay Signals . . . . . . . . . . . . . 15-4
Clearing Signals when Powering ON . . . . . . . . . . . . . . . . . 15-4
15.4 Clearing the Universal Register . . . . . . . . . . . . . . . . . . 15-7
Clearing Registers when Powering ON . . . . . . . . . . . . . . . 15-7
xvi
1.1 Features of Concurrent I/O
1 Concurrent I/O
Concurrent I/O control is an I/O control function that processes controls relative to the NX100
I/O independent of the manipulator operation (in parallel with manipulator operation).
1.1 Features of Concurrent I/O
Terminals and connectors to which I/O signals are connected can be used effectively.
Terminals and connectors are provided for connecting I/O signals. Although the number of
connections are limited, the terminals can be used effectively because only the necessary
signals can be selected and connected to the desired terminal.
Instructions relative to the I/O (Robot Language: INFORM III) can be simplified for smooth
manipulator operation.
Fixed procedures relative to the I/O can be registered as independent ladder programs, thus
enabling simplification of I/O instructions of the job (operation program) and reducing
interruptions.
Reserved signals can be accepted while the manipulator is operating.

Reserved signals can be accepted during operation since manipulator operation processing
and I/O processing can be executed at the same time.
1.2 Construction and Specifications of the Concurrent

I/O
The Concurrent I/O consists of the following two blocks.
SYSTEM LADDER
SECTION (PART 1)
USER LADDER
SECTION (PART 2)
Construction of Concurrent I/O Ladder Program
1-1
1.2 Construction and Specifications of the Concurrent I/O
System Ladder Section A standard ladder selected for your applications is prepared at the factory.
For more information, see 11 Standard Ladder Program The ladder program
cannot be edited.
User Ladder Section Specification of signal connections and interface signal with system ladder are
prepared at the factory. The ladder program can be edited including these
signals.
Concurrent I/O Specifications
Item Contents
Control Method Scan control by stored program
Programming Relay ladder program symbology
Scan Time 10 msec
Memory Capacity 10000 steps (Up to 15000 steps: optional)
Number of 33 types
Instructions
General Input Port 1024 points (Concurrent I/O Manipulator Control Section)
General Output 1024 points (Concurrent I/O Manipulator Control Section)

Port
640 points including unspecified signals (Concurrent I/O Manipulator Con-

Specific Input Port
trol Section)
Specific Output 800 points including unspecified signals (Concurrent I/O Manipulator Con-
Port trol Section)
Hardware Status 512 points (Concurrent I/O Manipulator Control Section)

Signal Points
Auxiliary Relays 7992 points
External Inputs 1024 points
External Outputs 1024 points
General Register 260 points (0-65535)

Register System Register 160 points (0-65535)
(Numeric Data) Analog output register 40 points (0-65535)
Analog input register 40 points (0-65535)
Pseudo Input 96 points (Concurrent I/O System Parameter)

Signal Points
Power Failure Ladder Program (Battery Back-Up)

Protective Output status is reset.
Function
1-2
1.2 Construction and Specifications of the Concurrent I/O
Concurrent I/O Specifications
Item Contents
Error Detection of CPU, system program and ladder programs.

Ladder programming error detection as follows:
Double Use of Output Relay
Diagnostic No END Instruction
Fuctions
Circuit Error
Format Error
Exceeded Program Capacity
Monitor Function Monitor each signal status in concurrent I/O on CRT window.
1-3
2 Classification of I/O Signals
Classification of I/O signals
Logic Name Classification Description Range

General Input Referenced with input instruction of the job 00010 - 01287
0 xxxx
(1024 signals)
General Output Referenced with output instruction of the job 10010 - 11287
1 xxxx
(1024 signals)
External Input Signal No. corresponding to the input terminal 20010 - 21287
2 xxxx
(1024 signals)
External Output Signal No. corresponding to the output 30010 - 31287
3 xxxx
terminal (1024 signals)
Specific Input Signal to change the operating condition of the 40010 - 40807
4 xxxx
robot (640 signals)
Specific Output Signal notifying the operating condition of the 50010 - 51007
5 xxxx
robot (800 signals)
Interface Panel Signal notifying the operating condition of the 60010 - 60647
6 xxxx
Input interface panel (512 signals)
Auxiliary Relay Auxiliary relay in the concurrent I/O 70010 - 79997
7 xxxx
(7992 signals)
Control Status Monitoring of the hardware signal status of the 80010 - 80647
80 xxx
robot control section (512 signals)
Pseudo Input Pseudo input relay reading from the system 82010 - 82127
82 xxx
parameter (96 signals)
Network Input Input signal from the network device 22010 - 23287
22 xxx
(1024 signals)
Network Output Input signal to the network device 32010 - 33287
32 xxx
(1024 signals)
Register 1 word data (16 bits) M000 - M499
General Register: M000 - M259 (500 signals)
M xxx Analog Output Register: M260 - M299
Analog Input Register: M300 - M339
System Register: M340 - M499
2-1
2.1 I/O Signals
2.1 I/O Signals
Meaning of Number
The I/O processing part and the manipulator operation processing part are connected by
"Logical I/O". However, for the function, they are separated as a quite independent function.
How to handle each signal is also different from the manipulator operation processing part.
In ladder programming, to specify each signal unitedly, the number is set to as follows.
"Relay number" is specified by the numerical value of five digits. This numerical value is
composed of the following three information.
0 0 0 2 3
c Relay No. in Specified Channel

(b) Specified Channel No.
a Specified Block No.
Specified Block Number

This is divided into the following block.
[0] General Input

Physical I/O
[1] General Output
[2 (0/1)] Input Terminal

Logic I/O
[3 (0/1)] Output Terminal
[4] Specified Input
[5] Specified Output
[8 (2)] Pseudo Input
[2 (2/3)] Network Input
[3 (2/3)] Network Output
[6] Interface Panel Input
[7] Auxiliary Relay I/O Internal Processing

(Internal Relay)
[8 (0/1)] Control Input Hard Signal Monitor
2-2
2.1 I/O Signals
Specified Channel Number

Eight signals are defined as one channel.
[001] Last eight signals
[nnn] Last eight signals
Refer to the under mentioned table for concrete channel number.
Relay Number in Specified Channel

One of eight signals is specified by numerical value (0-7).
Channel No. nnn 7 6 5 4 3 2 1 0
Bit No. Relay No. m
As for each block, a minimum digit is specified by the numerical value to 0-7 for a relay
number as understood from the table. In a word, it is a serial number which omits 8 and 9.
Moreover, the first relay number of each block starts from xxx10 because channel number
enters between digits of 10, 100, and 1000.
The relay number will be specified by the numerical value of the fifth digit in the frame.
Block Number: 0
Relay Number: 0 nnn m
nn: Channel01 00019 00018 00017 00016 00015 00014 00013 00012 00011 00010
Channel02 00029 00028 00027 00026 00025 00024 00023 00022 00021 00020
Channel03 00039 00038 00037 00036 00035 00034 00033 00032 00031 00030
Channel04 00049 00048 00047 00046 00045 00044 00043 00042 00041 00040
Channel05 00059 00058 00057 00056 00055 00054 00053 00052 00051 00050
Channel06 00069 00068 00067 00066 00065 00064 00063 00062 00061 00060
There are no relays which correspond to these numbers.

(These numbers cannot be used.)
NOTE The relay is occasionally treated by the units (8 bits) of the byte (channel) or the units
(16bits) of the word.
2-3
2.2 Register
2.2 Register
The register is data of each every word (16 bits).

General register (M000 - M259) and analog output register (M260 - M299) are readable and
writable.
System register (M340 - M499) and analog input register (M300 - M339) are readable only,
and the data is set by the system.
The register is treated by the unit of one word (16 bits).

NOTE Therefore, it is not possible to handle it by the bit specification instruction (STR, AND, OR,
and OUT, etc.) and the PLS instructions, etc.
General Register
This is composed of one word (16 bits).
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
M000
M001
: :
M259
System Register
This is composed of one word (16 bits).
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
M340
M341
: :
M499
2-4
2.2 Register
Analog Output Register

This is composed of one word (16 bits). The analog output registers (M260 - M299)
correspond to the analog outputs 1 to 40. Since an analog output board with different digital
resolution (D/A circuit) is used in common with the analog output register, the data below the
resolution is cut off at output.
Analog
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
output
AOUT01 M260
AOUT02 M261
: : :
AOUT40 M299
Resolution and Valid Data

8-bit resolution : Bit 8 to Bit 15 are valid data.
12-bit resolution: Bit 4 to Bit 15 are valid data.
16-bit resolution: Bit 0 to Bit 15 are valid data.
Resolution Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
8-bit
12-bit
16-bit
Regardless of the resolution, the register value per 1 V is:

1 (V) = 32767 (7fffH) / 14 (V) = 2340 (924H)
Output Voltage
+14 V
8000 H 0V
0000 H 7fffH
Register Value
(Hexadecimal)
-14 V
SUPPLE-
Analog output board (JANCD-NEW01- , JANCD-XEW01- , JANCD-XEW02) uses a 12-
MENT bit resolution D/A circuit.
2-5
2.2 Register
Analog Input Register

This is composed of one word (16 bits). The analog input registers (M300 - M339) correspond
to the analog inputs 1 to 40.
Analog
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
input
AIN01 M300
AIN02 M301
: : :
AIN40 M339
The register value per 1 V is:

1 (V) = 32767 (7fffH) / 5 (V) = 6553 (1999H)
Input Voltage
+5 V
8000 H 0V
0000 H 7fffH
Register Value
(Hexadecimal)
-5 V
Numeric Data
Binary number is the one that the numeric data was expressed by 1(ON) and 0(OFF). Internal
data of a usual computer is expressed by the binary number. On the other hand, BCD (Binary
Code Decimal) makes one digit of the decimal number by using four bits of the binary number,
that is, four digits, combines these, and shows the decimal number. The equipment
connected with NX100 occasionally uses BCD as an input and a output signal. When
transferring the data between these, it is necessary to convert BCD into the binary number
when NX100 receives the data, and it is necessary to convert the binary number into BCD
when outputting the data to the equipment. It is possible to convert the data by BIN and the
BCD instruction in the concurrent I/O function.
2-6
2.2 Register
Binary Number
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
215 214 213 212 211 210 29 28 27 26 25 24 23 22 21 20
BCD
Digit of 1000 Digit of 100 Digit of 10 Digit of 1
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
23 22 21 20 23 22 21 20 23 22 21 20 23 22 21 20
Binary number and BCD expression of the decimal number
Decimal Number Binary BCD
1 0000 0000 0000 0001 0000 0000 0000 0001
12 0000 0000 0000 1100 0000 0000 0001 0010
123 0000 0000 0111 1011 0000 0001 0010 0011
1234 0000 0100 1101 0010 0001 0010 0011 0100
2-7
3.1 Arc Welding
3 Configuration of I/O Signals
3.1 Arc Welding

NX100
JANCD-NCP01
Control Control
(Hardware) Status
Status Data For
Signal Area Analog Voltage
Processing Specific I/O Board
Section 3XXXX JANCD-NEW01
80XXX
31210 31287
21210 21287
5XXXX 2XXXX
Operating Status/ Specific
Condition
Processing Section I/O Area
General I/O Board
Concurrent I/O Ladder Program
4XXXX
1XXXX
JANCD-NIO01
Instruction General
Processing I/O Area
Section (JOB) 30010 30057
0XXXX 20010 20057
System 82XXX 3XXXX
Parameter
Area
2XXXX
Network Network 22XXX
Processing
I/O Area Option I/O Board
Section
32XXX
30060 31207
MXXX 20060 21207
Register
Area
Programming Interface 6XXXX

Pendant Panel
Interface Panel Area
How to Monitor Signal Status

To monitor a signal, verify the signal status of the signal logic number in the I/O monitor win-
dow (refer to " 13.1.1 I/O Windows ").
3-1
3.2 Handling, Spot Welding, and General-Purpose Applications
3.2 Handling, Spot Welding, and General-Purpose

Applications
NX100
JANCD-NCP01
Control
(Hardware) Control
Status Status
Processing Signal Area
Section
80XXX
Operating Status/
5XXXX
Condition Specific
Processing Section I/O Area
General I/O Board
Concurrent I/O Ladder Program
4XXXX
1XXXX
JANCD-NIO01
Instruction
Processing General
Section (JOB) I/O Area 30010 30057
0XXXX 20010 20057
System 82XXX 3XXXX
Parameter Area
2XXXX
Network Network 22XXX
Processing
I/O Area Option I/O Board
Section
32XXX
30060 31287
MXXX 20060 21287
Register
Area
Programming Interface 6XXXX

Pendant Panel
Interface Panel Area
How to Monitor Signal Status

To monitor a signal, verify the signal status of the signal logic number in the I/O monitor win-
dow (refer to " 13.1.1 I/O Windows ").
3-2
4.1 Specific Input Signals for All Applications
4 Specific I/O Signals
40017 40016 40015 40014 40013 40012 40011 40010

SIN#008 SIN#007 SIN#006 SIN#005 SIN#004 SIN#003 SIN#002 SIN#001
USER USER SYSTEM SYSTEM
SAFETY ALARM
MESSAGE ALARM MESSAGE ALARM
SPEED RESET
REQUEST REQUEST REQUEST REQUEST
40027 40026 40025 40024 40023 40022 40021 40020

SUB TASK SUB TASK SUB TASK SUB TASK SUB TASK SUB TASK SUB TASK
7 ALARM 6 ALARM 5 ALARM 4 ALARM 3 ALARM 2 ALARM 1 ALARM
REQUEST REQUEST REQUEST REQUEST REQUEST REQUEST REQUEST
40037 40036 40035 40034 40033 40032 40031 40030

SUB SUB SUB SUB SUB SUB SUB
MASTER
MASTER MASTER MASTER MASTER MASTER MASTER MASTER
JOB CALL
JOB 7 CALL JOB 6 CALL JOB 5 CALL JOB 4 CALL JOB 3 CALL JOB 2 CALL JOB 1 CALL
40047 40046 40045 40044 40043 40042 40041 40040

CMD
PROHIBIT CHECK EXT EXT PLAY TEACH
REMOTE
WEAVING RUN SERVO ON START MODE SEL MODE SEL
SELECT
40057 40056 40055 40054 40053 40052 40051 40050

EXT SERVO
PLAY CONTINUE STEP
PROHIBIT PROHIBIT OFF 3 1 CYCLE
MODE CYCLE CYCLE
I/O PP (E-STOP SELECT
ENABLE SELECT SELECT
CATEGORY 1)
40067 40066 40065 40064 40063 40062 40061 40060

EXT SERVO
EXT OT SHOCK
EXT OFF 2 MACHINE
SERVO EDIT LOCK RELEASE DETECTION
HOLD (E-STOP LOCK
OFF 1 REQ INVALID
CATEGORY 0)
40077 40076 40075 40074 40073 40072 40071 40070

STEP BACK STEP BACK STEP BACK STEP BACK

R4J R3J R2J R1J
4-1
40087 40086 40085 40084 40083 40082 40081 40080

40097 40096 40095 40094 40093 40092 40091 40090

WAIT JOB WAIT JOB WAIT JOB WAIT JOB
SEQ SEQ SEQ SEQ
R4J R3J 2J R1J
40107 40106 40105 40104 40103 40102 40101 40100

40117 40116 40115 40114 40113 40112 40111 40110

OPE ORG OPE ORG OPE ORG OPE ORG
RET RET RET RET
R4 R3 R2 R1
40127 40126 40125 40124 40123 40122 40121 40120

40137 40136 40135 40134 40133 40132 40131 40130

SYSTEM ALARM CODE (BINARY)
d5 d4 d3 d2 d1 d0
40147 40146 40145 40144 40143 40142 40141 40140

USER ALARM CODE (BINARY)
d5 d4 d3 d2 d1 d0
40157 40156 40155 40154 40153 40152 40151 40150

SYSTEM MESSAGE CODE (BINARY)
d5 d4 d3 d2 d1 d0
4-2
40167 40166 40165 40164 40163 40162 40161 40160

USER MASSAGE CODE (BINARY)
d5 d4 d3 d2 d1 d0
40177 40176 40175 40174 40173 40172 40171 40170

SUB TASK SUB TASK SUB TASK SUB TASK SUB TASK SUB TASK SUB TASK MASTER
7 START 6 START 5 START 4 START 3 START 2 START 1 START JOB START
REQUEST REQUEST REQUEST REQUEST REQUEST REQUEST REQUEST REQUEST
40187 40186 40185 40184 40183 40182 40181 40180

SUB TASK SUB TASK SUB TASK SUB TASK SUB TASK SUB TASK SUB TASK MASTER
7 HOLD 6 HOLD 5 HOLD 4 HOLD 3 HOLD 2 HOLD 1 HOLD JOB HOLD
REQUEST REQUEST REQUEST REQUEST REQUEST REQUEST REQUEST REQUEST
40197 40196 40195 40194 40193 40192 40191 40190

40207 40206 40205 40204 40203 40202 40201 40200

40217 40216 40215 40214 40213 40212 40211 40210

40227 40226 40225 40224 40223 40222 40221 40220

40237 40236 40235 40234 40233 40232 40231 40230

40247 40246 40245 40244 40243 40242 40241 40240

4-3
40257 40256 40255 40254 40253 40252 40251 40250

40267 40266 40265 40264 40263 40262 40261 40260

40277 40276 40275 40274 40273 40272 40271 40270

40287 40286 40285 40284 40283 40282 40281 40280

40297 40296 40295 40294 40293 40292 40291 40290

40307 40306 40305 40304 40303 40302 40301 40300

40317 40316 40315 40314 40313 40312 40311 40310

40327 40326 40325 40324 40323 40322 40321 40320

4-4
40337 40336 40335 40334 40333 40332 40331 40330

PP BUZZER
40347 40346 40345 40344 40343 40342 40341 40340

40357 40356 40355 40354 40353 40352 40351 40350

40367 40366 40365 40364 40363 40362 40361 40360

40377 40376 40375 40374 40373 40372 40371 40370

40387 40386 40385 40384 40383 40382 40381 40380

40397 40396 40395 40394 40393 40392 40391 40390

40407 40406 40405 40404 40403 40402 40401 40400

4-5
40417 40416 40415 40414 40413 40412 40411 40410

40427 40426 40425 40424 40423 40422 40421 40420

40437 40436 40435 40434 40433 40432 40431 40430

40447 40446 40445 40444 40443 40442 40441 40440

40457 40456 40455 40454 40453 40452 40451 40450

40467 40466 40465 40464 40463 40462 40461 40460

40477 40476 40475 40474 40473 40472 40471 40470

40487 40486 40485 40484 40483 40482 40481 40480

4-6
40497 40496 40495 40494 40493 40492 40491 40490

40507 40506 40505 40504 40503 40502 40501 40500

40517 40516 40515 40514 40513 40512 40511 40510

40527 40526 40525 40524 40523 40522 40521 40520

40537 40536 40535 40534 40533 40532 40531 40530

40547 40546 40545 40544 40543 40542 40541 40540

40557 40556 40555 40554 40553 40552 40551 40550

40567 40566 40565 40564 40563 40562 40561 40560

4-7
4.2 Specific Input Signals for Arc Welding
Device 1
40577 40576 40575 40574 40573 40572 40571 40570
RETRY WORK
ANTI-STICK RETRY NOZZLE TIP TIME WORK END
RET START
REQUEST REQUEST CLEANED CHANGED MEASURE ANSWER
REQUEST ANSWER
40587 40586 40585 40584 40583 40582 40581 40580

CLEAR CLEAR
CLEAR RESTART RESTART/ RESTART/ RESTART/
ANTI- RESTART
RETRY NO RESET WIRE GAS ARC
STICCK NO NO
40597 40596 40595 40594 40593 40592 40591 40590

40607 40606 40605 40604 40603 40602 40601 40600

PROHIBIT
SENSING
40617 40616 40615 40614 40613 40612 40611 40610

40627 40626 40625 40624 40623 40622 40621 40620

4-8
Device 2
40637 40636 40635 40634 40633 40632 40631 40630
RETRY WORK
RET START
REQUEST ANSWER
40647 40646 40645 40644 40643 40642 40641 40640

CLEAR CLEAR
ANTI- RESTART
STICCK NO NO
40657 40656 40655 40654 40653 40652 40651 40650

40667 40666 40665 40664 40663 40662 40661 40660

PROHIBIT
SENSING
40677 40676 40675 40674 40673 40672 40671 40670

40687 40686 40685 40684 40683 40682 40681 40680

4-9
Device 3
40697 40696 40695 40694 40693 40692 40691 40690
RETRY WORK
RET START
REQUEST ANSWER
40707 40706 40705 40704 40703 40702 40701 40700

CLEAR CLEAR
ANTI- RESTART
STICCK NO NO
40717 40716 40715 40714 40713 40712 40711 40710

40727 40726 40725 40724 40723 40722 40721 40720

PROHIBIT
SENSING
40737 40736 40735 40734 40733 40732 40731 40730

40747 40746 40745 40744 40743 40742 40741 40740

4-10
Device 4
40757 40756 40755 40754 40753 40452 40751 40750
RETRY WORK
RET START
REQUEST ANSWER
40767 40766 40765 40764 40763 40762 40761 40760

CLEAR CLEAR
ANTI- RESTART
STICCK NO NO
40777 40776 40775 40774 40773 40772 40771 40770

40787 40786 40785 40784 40783 40782 40781 40780

PROHIBIT
SENSING
40797 40796 40795 40794 40793 40792 40791 40790

40807 40806 40805 40804 40803 40802 40801 40800

4-11
4.3 Specific Input Signals for Handling
Device 1
40577 40576 40575 40574 40573 40572 40571 40570
WORK
TIME WORK END
START
MEASURE ANSWER
ANSWER
40587 40586 40585 40584 40583 40582 40581 40580

SENSOR SENSOR SENSOR SENSOR SENSOR SENSOR SENSOR SENSOR

INPUT 8 INPUT 7 INPUT 6 INPUT 5 INPUT 4 INPUT 3 INPUT 2 INPUT 1
40597 40596 40595 40594 40593 40592 40591 40590

40607 40606 40605 40604 40603 40602 40601 40600

40617 40616 40615 40614 40613 40612 40611 40610

40627 40626 40625 40624 40623 40622 40621 40620

4-12
Device 2
40637 40636 40635 40634 40633 40632 40631 40630
WORK
TIME WORK END
START
MEASURE ANSWER
ANSWER
40647 40646 40645 40644 40643 40642 40641 40640


40657 40656 40655 40654 40653 40652 40651 40650

40667 40666 40665 40664 40663 40662 40661 40660

40677 40676 40675 40674 40673 40672 40671 40670

40687 40686 40685 40684 40683 40682 40681 40680

4-13
Device 3
40697 40696 40695 40694 40693 40692 40691 40690
WORK
TIME WORK END
START
MEASURE ANSWER
ANSWER
40707 40706 40705 40704 40703 40702 40701 40700


40717 40716 40715 40714 40713 40712 40711 40710

40727 40726 40725 40754 40723 40722 40721 40720

40737 40736 40735 40734 40733 40732 40731 40730

40747 40746 40745 40744 40743 40742 40741 40740

4-14
Device 4
40757 40756 40755 40754 40753 40752 40751 40750
WORK
TIME WORK END
START
MEASURE ANSWER
ANSWER
40767 40766 40765 40764 40763 40762 40761 40760


40777 40776 40775 40774 40773 40772 40771 40770

40787 40786 40785 40784 40783 40782 40781 40780

40797 40796 40795 40794 40793 40792 40791 40790

40807 40806 40805 40804 40803 40802 40801 40800

4-15
4.4 Specific Input Signals for Spot Welding
Device 1
40577 40576 40575 40574 40573 40572 40571 40570
WELDING ELECTRODE START
TIME END WORK
STOP EXCHG WORK
MEASURE ANSWER
WELDER 1 WELDER 1 ANSWER
40587 40586 40585 40584 40583 41582 40581 40580

WELDING ELECTRODE
STOP EXCHG
WELDER 2 WELDER 2
40597 40596 40595 40594 40593 40592 40591 40590

WELDING ELECTRODE
STOP EXCHG
WELDER 3 WELDER 3
40607 40606 40605 40604 40603 40602 40601 40600

WELDING ELECTRODE
STOP EXCHG
WELDER 4 WELDER 4
40617 40616 40615 40614 40613 40612 40611 40610

40627 40626 40625 40624 40623 40622 40621 40620

4-16
Device 2
40637 40636 40635 40634 40633 40632 40631 40630
40647 40646 40645 40644 40643 40642 40641 40640

40657 40656 40655 40654 40653 40652 40651 40650

40667 40666 40665 40664 40663 40662 40661 40660

40677 40676 40675 40674 40673 40672 40671 40670

40687 40686 40685 40684 40683 40682 40681 40680

4-17
Device 3
40697 40696 40695 40694 40693 40692 40691 40690
40707 40706 40705 40704 40703 40702 40701 40700

40717 40716 40715 40714 40713 40712 40711 40710

40727 40726 40725 40724 40723 40722 40721 40720

40737 40736 40735 40734 40733 40732 40731 40730

40747 40746 40745 40744 40743 40742 40741 40740

4-18
Device 4
40757 40756 40755 40754 40753 40752 40751 40750
40767 40766 40765 40764 40763 40762 40761 40760

40777 40776 40775 40774 40773 40772 40771 40770

40787 40786 40785 40784 40783 40782 40781 40780

40797 40796 40795 40794 40793 40792 40791 40790

40807 40806 40805 40804 40803 40802 40801 40800

4-19
4.5 Specific Input Signals for General-Purpose Applications
4.5 Specific Input Signals for General-Purpose Appli-

cations
Device 1
40577 40576 40575 40574 40573 40572 40571 40570
WORK
TIME WORK END
START
MEASURE ANSWER
ANSWER
40587 40586 40585 40584 40583 41582 40581 40580

40597 40596 40595 40594 40593 40592 40591 40590

40607 40606 40605 40604 40603 40602 40601 40600

40617 40616 40615 40614 40613 40612 40611 40610

40627 40626 40625 40624 40623 40622 40621 40620

4-20
Device 2
40637 40636 40635 40634 40633 40632 40631 40630
WORK
TIME WORK END
START
MEASURE ANSWER
ANSWER
40647 40646 40645 40644 40643 40642 40641 40640

40657 40656 40655 40654 40653 40652 40651 40650

40667 40666 40665 40664 40663 40662 40661 40660

40677 40676 40675 40674 40673 40672 40671 40670

40687 40686 40685 40684 40683 40682 40681 40680

4-21
Device 3
40697 40696 40695 40694 40693 40692 40691 40690
WORK
TIME WORK END
START
MEASURE ANSWER
ANSWER
40707 40706 40705 40704 40703 40702 40701 40700

40717 40716 40715 40714 40713 40712 40711 40710

40727 40726 40725 40724 40723 40722 40721 40720

40737 40736 40735 40734 40733 40732 40731 40730

40747 40746 40745 40744 40743 40742 40741 40740

4-22
Device 4
40757 40756 40755 40754 40753 40752 40751 40750
WORK
TIME WORK END
START
MEASURE ANSWER
ANSWER
40767 40766 40765 40764 40763 40762 40761 40760

40777 40776 40775 40774 40773 40772 40771 40770

40787 40786 40785 40784 40783 40782 40781 40780

40797 40796 40795 40794 40793 40792 40791 40790

40807 40806 40805 40804 40803 40802 40801 40800

4-23
4.6 Specific Input Signals: Explanation
The following symbols are used in the explanation to represent the signal condition.
State
The signal takes effect while it is in ON Rising The rising edge is detected as the
state. signal.
4.6.1 Alarm and Message Display

Various information items about the application can be displayed as messages on the
programming pendant screen of the NX100. This section explains how to select already
created messages. For registration, refer to Registration of I/O Alarms and Messages.
50msec or longer
Display
Request
50msec or longer
Message
No.
Signal Timing
Display request signal is a state signal, which continues to update the display while the signal
is ON.
40010: SYSTEM ALARM REQUEST

When this signal is ON, a system alarm occurs and the manipulator stops. At the
State
same time, an alarm message corresponding to the alarm code of the specific inputs
(40130 to 40135) appears on the programming pendant screen.
40130 to 40135: System alarm No. (binary)

Up to 64 system alarms can be specified. Assign messages by coding decimals from 0 to 63
into binaries.
4-24
Setting Value 0: OFF 1: ON

No.
40135 40134 40133 40132 40131 40130
0 0 0 0 0 0 0
1 0 0 0 0 0 1
2 0 0 0 0 1 0
3 0 0 0 0 1 1
: : : : : : :
63 1 1 1 1 1 1
40011: SYSTEM MESSAGE REQUEST

State
When this signal is on, the message of the corresponding message code of specific
inputs (40150 to 40155) appears on the programming pendant screen. Manipulator
operation will not be affected even if the message is displayed.
40150 to 40155: System Message No. (Binary)

Up to 64 system messages can be specified. Assign messages by coding decimals from 0 to
63 into binaries.

No.
40155 40154 40153 40152 40151 40150
0 0 0 0 0 0 0
1 0 0 0 0 0 1
2 0 0 0 0 1 0
3 0 0 0 0 1 1
: : : : : : :
63 1 1 1 1 1 1
40012: USER ALARM REQUEST

State
When this signal is on, a user alarm occurs and the manipulator stops. At the same
time, an alarm message corresponding to the alarm code of the specific input (40140
to 40145) appears on the programming pendant screen.
40140 to 40145: User Alarm No.

Up to 64 system alarms can be specified. Assign messages by coding decimals from 0 to 63
into binaries.
4-25

No.
40145 40144 40143 40142 40141 40140
0 0 0 0 0 0 0
1 0 0 0 0 0 1
2 0 0 0 0 1 0
3 0 0 0 0 1 1
: : : : : : :
63 1 1 1 1 1 1
40013: USER MESSAGE REQUEST

State
When this signal is on, the message of the corresponding message code of specific
inputs (40160 to 40165) appears on the programming pendant screen. Manipulator
operation will not be affected even if the message is displayed.
40160 to 40165: User Message No. (Binary)
Up to 64 user messages can be specified. Assign messages by coding decimals from 0 to 63

into binaries.

No.
40165 40164 40163 40162 40161 40160
0 0 0 0 0 0 0
1 0 0 0 0 0 1
2 0 0 0 0 1 0
3 0 0 0 0 1 1
: : : : : : :
63 1 1 1 1 1 1
4-26
40014: ALARM RESET

Rising This signal clears alarms or errors when there is a minor failure, system alarm, user
alarm, or user error. Use this signal when desiring to reset an alarm or error from the
outside.
<Example>
Arc Instruction Wire Shortage #40150
Arc Instruction Gas Shortage #40151
0 Setting Always OFF #40152
0 Setting Always OFF #40153 Message

Code
#40011 System
#40150
Message Request
#40151
#40010 System
Count Up
Alarm Request
Counter Count Up
#40150
COUNT
#40151 If wire shortage or gas shortage

occurs, the message is displayed
Alarm Reset every time at arc on. When the
RESET message display exceeds the allowable
frequency, it becomes an alarm.
4-27
4.6.2 Selecting Mode/Cycle and Calling Master Job

40030: MASTER JOB CALLING
Rising This signal resets the operating sequence. When the signal is on, the heading of the
master job (Line: 0) will be called up as an execution job. This can be used for
executing system initialization automatically when the power is turned on .
However, it is invalid in the following cases:

While the manipulator is operating (job is executing)
While the servo power is ON in the teach mode.
MASTER CALLING UP PROHIBIT is shown on the operating condition window.
40040, 40041: Selection of Modes

Rising These signals have the same function as the mode key on the programming pendant.
Use these signals when desiring to change mode specifications from the outside.
If two or more modes are specified at the same time, TEACH MODE has a priority
over another.
They are invalid when "EXT. MODE SWITCH PROHIBIT" is shown on the operating
condition window, and when the mode key on the programming pendant is set to
"TEACH" or "PLAY". (The mode specified with the mode key prevails.)
40042, 40056, 40057: Selection of Operating Modes

State
40042 CMD REMOTE SELECT
This signal selects a command remote function such as transmission. When the
system transmission function (optional) is valid, CMD REMOTE SETTING (50056)
signal goes on and the NX100 gets ready for transmission with the master computer.
40056 PROHIBIT PP OPERATION
When this signal is on, cycle, start and servo on master job call from the programming
pendant are prohibited. However, this prohibition is released by setting the PP Opera-
tion at Remote Mode parameter (S2C182).
40057 PROHIBIT IO
When this signal is on, the following operation from external input is prohibited.
Selection of Cycle (40050 to 40052)
Calling Up Master Job (40030)
External Servo On (40045)
External Start (40044)
4-28
Operation Mode Processing Standard Ladders
Select "REMOTE" with the

mode selection switch of
the programing pendant.
Remote Mode
Selected
40042 40056 40057

0 0 1 Not Selected
0 1 0 Selected IO 0 OFF
1 1/0 1/0 Slected Command 1 ON
For remote function selection, refer to the 7 Pseudo Input Signals.

Transmission function is an optional function.
40050 to 40052: Selection of Cycles

Rising
Use the signals when desiring to change cycle specifications from the outside. These
can also be used when desiring to fix a specified cycle.
If two or more cycles are specified at the same time, or it is operated with the pro-
gramming pendant at the same time, the cycle will not change.
These are invalid when EXT. MODE SWITCH PROHIBIT is shown on the operating
condition window.
4.6.3 Start and Stop Signals

40044: EXTERNAL START
This signal has the same function as the START button on the programming pen-
Rising
dant. Automatic operation starts in accordance with cycle specifications. When this
signal is accepted, OPERATING (50070) and PERMISSIBLE WORK OPERATING
(50264) signals will be turned on. The signal can be used when starting from a panel
other than the NX100 programming pendant such as an external operators panel.
Since only one place on the programming pendant or external input can be specified
as the STARTING base from the stand point of safety, specify EXTERNAL START
PROHIBIT on the operating condition window.
This signal is invalid under the following conditions:

Servo power supply is turned off.
Remote mode is not selected.
EXTERNAL START PROHIBIT is on the operating condition window.
Manipulator is still operating. [When OPERATING (50070) signal is on].
When HOLDING (50071) signal is on.
EXTERNAL HOLD (40067) signal is on.
4-29
40045: EXTERNAL SERVO ON

Rising This signal turns on the servo power. Use the signal when turning on the servo power
from the outside.
To use this signal, connect the external servo on signal (EXSVON) on the specific
input terminal block to +24V (29 - 30). For details, see " 10 I/O Except Concurrent I/O ".
For safe use of the robot, it is recommended to use the above external servo on input
on the I/O power on unit without intervention of the ladder.
This signal is invalid when EXT. MODE SWITCH PROHIBIT is shown on the
operating condition window.
40054, 40065, 40066: EXTERNAL SERVO OFF

When these signals are on, the servo power supply is cut off and the manipulator
State
stops. Use the signals when desiring to cut off the servo power supply from the
outside or by ladder conditions for reasons other than the emergency stop. While
these signals are on, the servo power remains off even if the servo on reference (from
programming pendant, or outside) is turned on.
40065: EXTERNAL SERVO OFF 1 (Deceleration stop)

40066: EXTERNAL SERVO OFF 2 (Emergency stop category 0)
40054: EXTERNAL SERVO OFF 3 (Emergency stop category 1)
40067: EXTERNAL HOLD

State This signal has the same function as the HOLD button on the programming pendant.
Use the signal when instructing HOLD from a location other than the programming
pendant. While the signal is on, the HOLD lamp on the programming pendant is
blinking and the HOLDING (50071) signal goes ON.
4.6.4 Operating Instructions

40016: In-Guard Safe Operating Instruction
State When this signal is on, the playback operating speed is limited by in-guard safe
operation speed. If approaching the manipulator during operation for unavoidable rea-
sons, the operating speed can be limited by turning the signal on. It will therefore be
convenient to interlink the signal with the safety guardrail or safety mat.
This signal is only to limit speed. Since the manipulator operates as taught, prepare the
NOTE EMERGENCY STOP button so that it can be pressed at any time in the event of an
emergency when one approaches the robot.
4-30
40046: Check Operation

State This signal is not a start instruction. When the signal is on, the work instruction in the
job is not executed. Use the signal to check the taught steps and motions. This signal
is invalid when CHECK/ MACHINE LOCK PROHIBIT on the operating condition win-
dow is on.
40047: PROHIBIT WEAVING

State When this signal is on, weaving in the job are not executed. Use the signal to check
the taught steps and motions with weaving off.
40053: PLAY MODE ENABLE

Rising This signal is used as an alternative for the Play Mode Enable switch in the Play Mode
Enable function.
Enabling this signal after switching the mode to "PLAY" allows operation of the
programming pendant in the Play Mode.
40060: MACHINE LOCK

State When this signal is on, the machine lock mode is selected.
40061: INVALID SHOCK DETECTION

State When this signal is on, the shock detection function is invalid.
40063: OVERRUN RELEASE REQUEST

State When this signal is on, the overrun status is released.
This signal has the same function as the overrun release operation in the overrun and
shock sensor release window; however, setting the value for S2C453 allows whether
to enable the function depending on the window displayed on the programming
pendant screen.
0: Standard (The function is enabled when any window is displayed)

1: Enabled with interface panel (The function is enabled only when interface panel is
displayed)
40064: EDIT LOCK

State When this signal is on, the job editing operation is prohibited.
4-31
40070 to 40073: 1-Step Back Operating Instruction

State When these signals are on at start up, the manipulator moves to one step before the
displayed step at low speed and stops there disregarding the cycle. These can be
used for performing the operation one step before since some operations are difficult
to be executed.
For a system with one manipulator, use signal No. 40070.
40090 to 40093: SEQUENCE WAIT

State The manipulator pauses while this signal is on. Although it is functionally the same as
HOLD, it differs in the following ways:
1. When these signals are turned on while the manipulator is operating, the manipulator
pauses temporarily, but it is still in an operating state. If these signals are turned on
during an instruction other than a moving instruction (MOV), the instruction is contin-
ued. The START lamp remains lit and the OPERATING signal remains ON. If
these signals are turned on while the manipulator is operating at high speed, the
manipulator reduces its speed and stops.
2. The status of these signals are controlled. Motion of the manipulator is automatically
resumed when changing from on to off.
4-32
<Example 1>
The following is an example of using the signal to check S-Axis/ Cube Interference.
Operating Limit Sequence

IN-A in A-area A-area Releasing Operating Wait
Operating
IN-B in B-area B-area
Operating
IN-C in C-area C-area
Operating
A-area Sequence Wait in A-area
Operating
B-area Sequence Wait in B-area
Operating
C-area Sequence Wait in C-area
Explanation of ladder
Meaning of above terms
A, B, C: Area Name
e.g. S-Axis (right), Cube 1, etc
IN-A, IN-B, IN-C: Status of the combined equipment input externally
Area A, Area B, Area C: Individual status signals

The signals indicate whether the manipulator is in
the area.
Operating in A-area, ON when operating in the area

Operating in B-area, The signals are assigned to the combined
Operating in C-area: equipment.
If the signal "Area A", "Area B", or "Area C" is turned on while the combined equipment is out-
side the area, the signal "Operating in A-area", "Operating in B-area", or "Operating in C-area"
is turned ON and the operation continues.
If the combined equipment is in the area first, the SEQUENCE WAIT signal goes ON and
robot operation is stopped until the combined equipment leaves the area. When the
combined equipment leaves the area, the SEQUENCE WAIT signal goes off and manipulator
operation resumes.
4-33
<Example 2>
The following is an example of using the signal to detect wire sticking in arc welding.
Arc Interrupted Detection OK Detect Instruction
Wire
Arc OFF Sticking
Wire Sticking Timer

Detecting Signal Detect Instruciton Wire Sticking
T1
Wire
Sticking
Wire Sticking Timer

Detecting Signal Detect Instruction Detection OK
T2
Detect User Alarm

Instruction Occuring Sequence Wait
User Alarm
Sequence Wait Request
User Alarm User Alarm

Wire Sticking Occuring Request
Explanation of ladder
Monitor the state of welding when an ARC OFF instruction is issued, or if the arc is interrupted
while the instruction is being issued. When detecting wire sticking, the SEQUENCE WAIT
REQUEST goes ON and the manipulator pauses.
Normal
Detection OK will be determined when the OFF state of the wire sticking detection signal
continues for the prescribed time. SEQUENCE WAIT will then be released and the
manipulator will resume operation.
Abnormal
Welding is determined abnormal if the ON state of the wire sticking detecting signal continues
longer than the prescribed time.
I/O alarm will occur if welding is abnormal, and SEQUENCE WAIT will then be cleared.
4-34
40110 to 40113: Work Home Position Return Request

Rising The manipulator moves to the work home position at the speed of parameter
SICxG056 at joint operation by starting up these signals in the play mode.
During returning to the home position, the "START" lamp is lit ("during start" is
entered) and the message "Operation Origin Returning" is displayed on the
programing pendant screen.
Do not use these signals unless interlocking to check that the manipulator is at a
position from which it can return to the home position.
40337: PP Buzzer
State When this signal is on, the buzzer of programming pendant sounds.
4.6.5 Independent Control Signals (Optional)

40021 to 40027: SUB 1, 2, 3, 4, 5, 6, 7 ALARM REQUEST
State These signals are used to stop the specified sub task with an alarm when system
section alarm request (40010) or user section alarm request (40012) is issued.
Input the alarm request (40010 or 40012) after setting the conditions of individual
requirements.

Meaning
40027 40026 40025 40024 40023 40022 40021
0 0 0 0 0 0 0 Stops all tasks

0 0 0 0 0 0 1 Stops sub task
1
: : : : : : : :
Stops sub task
1 1 1 1 1 1 1 1, 2, 3, 4, 5, 6,
7
40031 to 40037: SUB1, 2, 3, 4, 5, 6, 7 MASTER CALL

Rising Operation sequence is reset. When these signals are turned on, the head of the
master job in sub take 1, 2, 3, 4, 5, 6 or 7 is called up as an execution job.
These signals are invalid in any of the following cases:
The manipulator is operating (during job execution).
While the servo power is on in the teach mode.
MASTER CALLING UP PROHIBIT is shown on the operating condition window.
Master job is not registered.
4-35
40170 to 40177:
SUB 1, 2, 3, 4, 5, 6, 7, and MASTER START REQUEST
When the signals are turned on, the robot starts its operation automatically by each
Rising
sub task 1, 2, 3, 4, 5, 6, 7, and the master job individually. When the signals are
accepted, the signals "RUN", 50320 to 50327 are turned on. The signals can be used
when starting from a panel such as an external operators panel other than the NX100
programming pendant. Specify the condition on the operating condition window.
These signals are invalid in any of the following cases:
The servo power is not turned on.
The PLAY mode is not set.
The "EXTERNAL START PROHIBIT" is shown on the operating condition window.
The corresponding signal "RUN" is on. That is the robot is operating.
The signal "HOLDING" is on.
The signal "EXTERNAL HOLD" is on
The corresponding signal "HOLDING" is on.
40180 to 40187: SUB 1, 2, 3, 4, 5, 6, 7 HOLD REQUEST

State When these signals are turned on, the manipulator, which is running individually in
accordance with each sub task 1, 2, 3, 4, 5, 6, 7 and the master job, pauses. The cor-
responding signal "HOLDING" (50330 to 50337) is turned on when this signal is ON.
4.6.6 Signals for Arc Welding

Signals from 40570 to 40807 are classified into four blocks and assigned to input signals that
have different meanings depending on the application. Most of these inputs are used by the
system and they cannot be used from the outside of the NX100. This section explains
exceptional signals available for using from the outside.
40570, 40630, 40690, 40750: WORK START RESPONSE

State
The "WORK START RESPONSE" signals are used for response to the "WORK
START" instructions (50770, 50830, 50890, 50950).
40571, 40631, 40691, 40751: WORK END RESPONSE

State
The "WORK END RESPONSE" signals are used for response to the "WORK END"
instructions (50771, 50831, 50891, 50951).
40572, 40632, 40692, 40752: WORK TIME MEASURE

State The time during which these signals are on is measured as the operating time.
The operating time can be checked on the system monitoring time window.
For a system with one application, use signal No. 40572.
4-36
40573, 40633, 40693, 40753: TIP REPLACEMENT COMPLETED

State When these signals are on, tip replacement time is reset and the TIP
REPLACEMENT REQUEST (50773, 50833, 50893, or 50953) signal goes off.
40574, 40634, 40694, 40754: NOZZLE CLEANING COMPLETED

State When these signals are on, nozzle cleaning time is reset and the NOZZLE
CLEANING REQUEST (50774, 50834, 50894, or 50954) signal goes off.
40575, 40635, 40695, 40755: RETRY REQUEST

State
40576, 40636, 40696, 40756: RETRY RETURN REQUEST
State The WORK START RESPONSE signal is used for response to the WORK START
INSTRUCTION (50770, 50830, 50890, or 50950) signal. When the RETRY
REQUEST signal is used simultaneously, retry operation is performed; when the
RETRY RETURN
REQUEST signal is used simultaneously, retry return operation is performed. By
responding individually, the work start instruction is completed.
For a system with one application, use signal No. 40570, 40575, or 40576.
40577, 40637, 40697, 40757: AUTOMATIC ANTI-STICKING

REQUEST
State The WORK END RESPONSE signal is used for response to the WORK START
INSTRUCTION (50771, 50831, 50891, or 50951) signal. When the AUTOMATIC
ANTI-STICKING REQUEST signal is used simultaneously, anti-sticking operation is
performed.
By responding individually, the work start instruction is completed.
For a system with one application, use signal No. 40571 or 40577.
40580, 40640, 40700, 40760:

RESTART REQUEST (ARC SHORTAGE)
State
4-37
40581, 40641, 40701, 40761:

RESTART REQUEST (GAS SHORTAGE)
State
40582, 40642, 40702, 40762:

RESTART REQUEST (WIRE SHORTAGE)
State When these signals are on, restart operations are requested. The restart operation
differs from each restart mode.
For a system with one application, use signal No. 40580, 40581, or 40582.
NOTE Multiple requests cannot be made.

The priority order of requests is arc shortage gas shortage wire shortage.
40583, 40643, 40703, 40763: RESTART RESET PROCESS

State When these signals are on, the restart process is released. When manual
intervention method is selected as a restart method, use these signals to release the
restart process after manual intervention. For the initial value, OT#1022 (user open
signal) is connected.
40584, 40644, 40704, 40764: RETRY TIMES CLEAR

State When these signals are on, the number of retries is cleared.
40585, 40645, 40705, 40766:

ARC SHORTAGE RESTART TIMES CLEAR
State When these signals are on, the number of arc shortage restarts is cleared.
40586, 40646, 40706, 40766:

AUTOMATIC ANTI-STICKING TIMES CLEAR
State When these signals are on, the number of automatic anti-stickings is cleared.
4-38
40600, 40660, 40720, 40780: SENSING PROHIBIT

State When these signals are on, sensing is not performed in the started job. Use the
signals to check the taught steps and motions with the sensing function off.
4.6.7 Signals for Handling

have each different meanings depending on the application. As most of these input signals
are used for the system, they cannot be used from outside of the NX100.
This section explains exceptional signals that are available for external use.

State These signals are used for response to WORK START INSTRUCTION (50770,
50830, 50890, or 50950) signal. The work start instruction is completed by the
response.

State These signals are used for response to WORK END INSTRUCTION (50771, 50831,
50891, or 50951) signal. The work end instruction is completed by the response.

40580 to 40587, 40640 to 40647, 40700 to 40707, 40760 to 40767:

SENSOR INPUT
State
These signals are specific inputs which allow to grasp the signal status using the spe-
cific instruction HSEN for handling. When using the HSEN instruction, connect the
sensor to the specific input of the NIO01 board which is connected to these signals.
For a system with one manipulator, use signal Nos. 40580 to 40587.
4-39
4.6.8 Signals for Spot Welding

Signals from 40570 to 40807 are classified into four blocks and are assigned to input signals
according to its welding application. As most of these input signals are used for the system,
they cannot be used from outside of the NX100.

State The time during which these signals are ON is measured as the operating time.
40575, 40585, 40595, 40605: ELECTRODE REPLACEMENT

When a SVGUNCL instruction is executing with this siganal on, the electrode wear
State
amount absolute value is compared to the threshold value. The signal outputs the
wear detection normal in the case that the absolute value is less than the threshold
value after the replacement.
40587, 40597, 40607, 40617: WELDING STOP

State
This signal stops execution of the welding instruction.
While this signal is ON, the robot playbacks disregarding the spot welding instruction.
Use this signal when errors in welders or guns occur and the robot should return to the
working home position, etc.
4.6.9 Signals for General-Purpose Applications

have each different meanings depending on the application. As most of these input signals
are used for the system, they cannot be used from the outside of the NX100.

State These signals are used for response to WORK START INSTRUCTION (50770,
50830, 50890, or 50950) signal. The work start instruction is completed by the
response.
4-40

State These signals are used for response to WORK END INSTRUCTION (50771, 50831,
50891, or 50951) signal.

This operating time can be checked on the system monitoring time window.
4-41
4.7 Specific Output Signals for All Applications
50017 50016 50015 50014 50013 50012 50011 50010

SOUT#008 SOUT#007 SOUT#006 SOUT#005 SOUT#004 SOUT#003 SOUT#002 SOUT#001
COOLING ENCODER MEM USER SYSTEM MINOR MAJOR

ERROR
FAN BATTERY BATTERY ALARM ALARM ALARM ALARM
OCCUR
ERROR WEAK WEAK OCCUR OCCUR OCCUR OCCUR
50027 50026 50025 50024 50023 50022 50021 50020

TOP SUB TOP SUB TOP SUB TOP SUB TOP SUB TOP SUB TOP SUB TOP
MASTER MASTER MASTER MASTER MASTER MASTER MASTER MASTER
JOB 7 JOB 6 JOB 5 JOB 4 JOB 3 JOB 2 JOB 1 JOB
50037 50036 50035 50034 50033 50032 50031 50030


MASTER 7 MASTER 6 MASTER 5 MASTER 4 MASTER 3 MASTER 2 MASTER 1
HELD HELD HELD HELD HELD HELD HELD
50047 50046 50045 50044 50043 50042 50041 50040

MASTER 7 MASTER 6 MASTER 5 MASTER 4 MASTER 3 MASTER 2 MASTER 1
ALARM ALARM ALARM ALARM ALARM ALARM ALARM
OCCUR OCCUR OCCUR OCCUR OCCUR OCCUR OCCUR
50057 50056 50055 50054 50053 50052 50051 50050

CMD PLAY TEACH CONT STEP

1-CYCLE
REMOTE MODE MODE CYCLE CYCLE
SET
SET SET SET SET SET
50067 50066 50065 50064 50063 50062 50061 50060

RUNNING CHECK SOFT LIMIT MACHINE SAFETY

POSITION DRY RUN
AT FULL- APL KEY RUN SET LOCK SPEED
CHECKED SET
SPEED SET RELEASE SET SET
50077 50076 50075 50074 50073 50072 50071 50070

JOG HOLDING
OT JOB EDIT I/O
OPERATION SERVO ON (HOLD RUNNING
RELEASE INFORM SIMULATED
INFORM LAMP)
4-42
50087 50086 50085 50084 50083 50082 50081 50080

CUBE INTERFERENCE
8 7 6 5 4 3 2 1
50097 50096 50095 50094 50093 50092 50091 50090

CUBE INTERFERENCE
16 15 14 13 12 11 10 9
50107 50106 50105 50104 50103 50102 50101 50100

CUBE INTERFERENCE
24 23 22 21 20 19 18 17
50117 50116 50115 50114 50113 50112 50111 50110

CUBE INTERFERENCE
32 31 30 29 28 27 26 25
50127 50126 50125 50124 50123 50122 50121 50120

50137 50136 50135 50134 50133 50132 50131 50130

50147 50146 50145 50144 50143 50142 50141 50140

SPHERE SPHERE
CRD SPHERE CRD SPHERE S-AXIS INTRF
INPUT INPUT
WORKING INTRF WORKING INTRF
R1 ADVNC R1 ADVNC R1, R2 R1, R2 R4, R1 R4, R1 R1 (LEFT) R1 (RIGHT)
R3 INTRF R2 INTRF
50157 50156 50155 50154 50153 50152 50151 50150

SOUT#120 SOUT#119 SOUT#118 SOUT#117 SOUT116 SOUT#115 SOUT#114 SOUT#113
SPHERE SPHERE
INPUT INPUT
R3 INTRF R1 INTRF
4-43
50167 50166 50165 50164 50163 50162 50161 50160

SOUT#128 SOUT#127 SOUT#126 SOUT#125 SOUT#124 SOUT#123 SOUT122 SOUT121
SPHERE SPHERE
INPUT INPUT
R2 INTRF R1 INTRF
50177 50176 50175 50174 50173 50172 50171 50170

SPHERE SPHERE SPHERE SPHERE SPHERE SPHERE
S-AXIS INTRF
INPUT INPUT INPUT INPUT INPUT INPUT
R4 ADVNC R4 ADVNC R4 ADVNC R3 ADVNC R2 ADVNC R1 ADVNC
R4 (LEFT) R4 (RIGHT)
R3 INTRF R2 INTRF R1 INTRF R4 INTRF R4 INTRF R4 INTRF
50187 50186 50185 50184 50183 50182 50181 50180

SERVO ON SERVO ON SERVO ON SERVO ON SERVO ON SERVO ON SERVO ON SERVO ON

STATUS STATUS STATUS STATUS STATUS STATUS STATUS STATUS
S4 S3 S2 S1 R4 R3 R2 R1
50197 50196 50195 50194 50193 50192 50191 50190

SERVO ON SERVO ON SERVO ON SERVO ON SERVO ON SERVO ON SERVO ON SERVO ON

STATUS STATUS STATUS STATUS STATUS STATUS STATUS STATUS
S12 S11 S10 S9 S8 S7 S6 S5
50207 50206 50205 50204 50203 50202 50201 50200

WAIT JOB WAIT JOB WAIT JOB WAIT JOB

SEQ SEQ SEQ SEQ
R4J R3J R2J R1J
50217 50216 50215 50214 50213 50212 50211 50210

50227 50226 50225 50224 50223 50222 50221 50220

CONTINUE CONTINUE CONTINUE CONTINUE

JOB JOB JOB JOB
R4J R3J R2J R1J
50237 50236 50235 50234 50233 50232 50231 50230

4-44
50247 50246 50245 50244 50243 50242 50241 50240

CONTROL CONTROL CONTROL CONTROL

GROUP ON GROUP ON GROUP ON GROUP ON
R4 R3 R2 R1
50257 50256 50255 50254 50253 50252 50251 50250

50267 50266 50265 50264 50263 50262 50261 50260

WORK WORK WORK WORK WORK WORK WORK WORK
PERMIT PERMIT PERMIT PERMIT RESTART RESTART RESTART RESTART
RUN RUN RUN RUN PROHIBIT PROHIBIT PROHIBIT PROHIBIT
R4J R3J R2J R1J R4J R3J R2J R1J
50277 50276 50275 50274 50273 50272 50271 50270

SERVO SERVO SERVO SERVO

SEARCHING SEARCHING SEARCHING SEARCHING
FLOAT ON FLOAT ON FLOAT ON FLOAT ON
R4J R3J R2J R1J
R4 R3 R2 R1
50287 50286 50285 50284 50283 50282 50281 50280

LOCUS LOCUS LOCUS LOCUS

DEVIATE DEVIATE DEVIATE DEVIATE
R4 R3 R2 R1
50297 50296 50295 50294 50293 50292 50291 50290

50307 50306 50305 50304 50303 50302 50301 50300

SHOCK SHOCK SHOCK SHOCK
DETECTION DETECTION DETECTION DETECTION
VALID VALID VALID VALID
R4 R3 R2 R1
50317 50316 50315 50314 50313 50312 50311 50310

4-45
50327 50326 50325 50324 50323 50322 50321 50320

SUB SUB SUB SUB SUB SUB SUB MASTER

MASTER 7 MASTER 6 MASTER 5 MASTER 4 MASTER 3 MASTER 2 MASTER 1 JOB
RUN RUN RUN RUN RUN RUN RUN RUN
50337 50336 50335 50334 50333 50332 50331 50330

SUB SUB SUB SUB SUB SUB SUB MASTER

MASTER 7 MASTER 6 MASTER 5 MASTER 4 MASTER 3 MASTER 2 MASTER 1 JOB
HOLD HOLD HOLD HOLD HOLD HOLD HOLD HOLD
50347 50346 50345 50344 50343 50342 50341 50340

50357 50356 50355 50354 50353 50352 50351 50350

SHOCK PLAY MODE MANAGEMENT EDITING OPERATION

DTCT ALM ENABLE MODE MODE MODE
50367 50366 50365 50364 50363 50362 50361 50360

50377 50376 50375 50374 50373 50372 50371 50370

50387 50386 50385 50384 50383 50382 50381 50380

50397 50396 50395 50394 50393 50392 50391 50390

4-46
50407 50406 50405 50404 50403 50402 50401 50400

50417 50416 50415 50414 50413 50412 50411 50410

50427 50426 50425 50424 50423 50422 50421 50420

50437 50436 50435 50434 50433 50432 50431 50430

50447 50446 50445 50444 50443 50442 50441 50440

50457 50456 50455 50454 50453 50452 50451 50450

50467 50466 50465 50464 50463 50462 50461 50460

50477 50476 50475 50474 50473 50472 50471 50470

4-47
50487 50486 50485 50484 50483 50482 50481 50480

50497 50496 50495 50494 50493 50492 50491 50490

50507 50506 50505 50504 50503 50502 50501 50500

50517 50516 50515 50514 50513 50512 50511 50510

50527 50526 50525 50524 50523 50522 50521 50520

50537 50536 50535 50534 50533 50532 50531 50530

50547 50546 50545 50544 50543 50542 50541 50540

50557 50556 50555 50554 50553 50552 50551 50550

4-48
50567 50566 50565 50564 50563 50562 50561 50560

50577 50576 50575 50574 50573 50572 50571 50570

50587 50586 50585 50584 50583 50582 50581 50580

50597 50596 50595 50594 50593 50592 50591 50590

50607 50606 50605 50604 50603 50602 50601 50600

50617 50616 50615 50614 50613 50612 50611 50610

50627 50626 50625 50624 50623 50622 50621 50620

50637 50636 50635 50634 50633 50632 50631 50630

4-49
50647 50646 50645 50644 50643 50642 50641 50640

ARITHMTC ARITHMTC ARITHMTC

ERROR ZERO CARRY
FLAG FLAG FLAG
50657 50656 50655 50654 50653 50652 50651 50650

50667 50666 50665 50664 50663 50662 50661 50660

50677 50676 50675 50674 50673 50672 50671 50670

50687 50686 50685 50684 50683 50682 50681 50680

50697 50696 50695 50694 50693 50692 50691 50690

50707 50706 50705 50704 50703 50702 50701 50700

50717 50716 50715 50714 50713 50712 50711 50710

4-50
50727 50726 50725 50724 50723 50722 50721 50720

50737 50736 50735 50734 50733 5073 50731 50730

50747 50746 50745 50744 50743 50742 50741 50740

50757 50756 50755 50754 50753 50752 50751 50750

50767 50766 50765 50764 50763 50762 50761 50760

4-51
4.8 Specific Output Signals for Arc Welding
Device 1
50777 50776 50775 50774 50773 50772 50771 50770
TIP PROHIBIT
RETURN CLEAN START
RETRACT INCHING CHANGE WORK END WORK
RETRY NOZZLE WORK
REQUEST CONT
50787 50786 50785 50784 50783 50782 50781 50780

RETRY OVER
OVER OVER RETURN RESTARTING RESTARTING RESTARTING
REPLAY ANTI-
RESTART RETRY RESTART / WIRE / GAS / ARC
MODE STICK NO
50797 50796 50795 50794 50793 50792 50791 50790

50807 50806 50805 50804 50803 50802 50801 50800

50817 50816 50815 50814 50813 50812 50811 50810

50827 50826 50825 50824 50823 50822 50821 50820

4-52
Device 2
50837 50836 50835 50834 50833 50832 80531 50830
TIP PROHIBIT
RETURN CLEAN START
RETRY NOZZLE WORK
REQUEST CONT
50847 50846 50845 50844 50843 50842 50841 50840

RETRY OVER
REPLAY ANTI-
RESTART RETRY RESTART / WIR / GAS / ARC
MODE STICK NO
50857 50856 50855 50854 50853 50852 50851 50850

50867 50866 50865 50864 50863 50862 50861 50860

50877 50876 50875 50874 50873 50872 50871 50870

50887 50886 50885 50884 50883 50882 50881 50880

4-53
Device 3
50897 50896 50895 50894 50893 50892 50891 50890
TIP PROHIBIT
RETURN CLEAN START
RETRY NOZZLE WORK
REQUEST CONTINUE
50907 50506 50905 50904 50903 50902 50901 50900

RETRY OVER
REPLAY ANTI-
RESTART RETRY RESTART / WIR / GAS / ARC
MODE STICK NO
50917 50916 50915 50914 50913 50912 50911 50910

50927 50926 50925 50924 50923 50922 50921 50920

50937 50936 50935 50934 50933 50932 50931 50930

50947 50976 50945 50944 50943 50942 50941 50940

4-54
Device 4
50957 50956 50955 50954 50953 50952 50951 50950
TIP PROHIBIT
RETURN CLEAN START
RETRY NOZZLE WORK
REQUEST CONTINUE
50967 50966 50965 50964 50963 50962 50961 50960

RETRY OVER
REPLAY ANTI-
RESTART RETRY RESTART / WIR /GAS / ARC
MODE STICK NO
50977 50976 50975 50974 50973 50972 50971 50970

50987 50986 50985 50984 50983 50982 50981 50980

50997 50996 50995 50994 50993 50992 50991 50990

51007 51006 51005 51004 51003 51002 51001 51000

4-55
4.9 Specific Output Signals for Handling
Device 1
50777 50776 50775 50774 50773 50772 50771 50770
SH-SNSR PROHIBIT
SH-SNSR START
FUNCTION WORK END WORK
VALID WORK
SELECT CONTINUE
50787 50786 50785 50784 50783 50782 50781 50780

TOOL TOOL TOOL TOOL TOOL TOOL TOOL TOOL

VALVE 4-2 VALVE 4-1 VALVE 3-2 VALVE 3-1 VALVE 2-2 VALVE 2-1 VALVE 1-2 VALVE 1-1
50797 50796 50795 50794 50793 50792 50791 50790

50807 50806 50805 50804 50803 50802 50801 50800

50817 50816 50815 50814 50813 50812 50811 50810

50827 50826 50825 50824 50823 50822 50821 50820

4-56
Device 2
50837 50836 50835 50834 50833 50832 80531 50830
SH-SNSR PROHIBIT
SH-SNSR START
VALID WORK
SELECT CONTINUE
50847 50846 50845 50844 50843 50842 50841 50840


50857 50856 50855 50854 50853 50852 50851 50850

50867 50866 50865 50864 50863 50862 50861 50860

50877 50876 50875 50874 50873 50872 50871 50870

50887 50886 50885 50884 50883 50882 50881 50880

4-57
Device 3
50897 50896 50895 50894 50893 50892 50891 50890
SH-SNSR PROHIBIT
SH-SNSR START
VALID WORK
SELECT CONTINUE
50907 50506 50905 50904 50903 50902 50901 50900


50917 50916 50915 50914 50913 50912 50911 50910

50927 50926 50925 50924 50923 50922 50921 50920

50937 50936 50935 50934 50933 50932 50931 50930

50947 50976 50945 50944 50943 50942 50941 50940

4-58
Device 4
50957 50956 50955 50954 50953 50952 50951 50950
SH-SNSR PROHIBIT
SH-SNSR START
VALID WORK
SELECT CONT
50967 50966 50965 50964 50963 50962 50961 50960


50977 50976 50975 50974 50973 50972 50971 50970

50987 50986 50985 50984 50983 50982 50981 50980

50997 50996 50995 50994 50993 50992 50991 50990

51007 51006 51005 51004 51003 51002 51001 51000

4-59
4.10 Specific Output Signals for Spot Welding
Device 1
50777 50776 50775 50774 50773 50772 50771 50770
TIP WEAR WEAR
WORK
WELDING CHANGE DETECT DETECT
SVSPOT
ON/OFF ALARM ERROR NORMAL
WELD 1
WELD 1 WELD 1 WELD 1
50787 50786 50785 50784 50783 50782 50781 50780

TIP WEAR WEAR
WORK SENSOR
CHANGE DETECT DETECT
SVSPOT SEARCHING
ALARM ERROR NORMAL
WELD 2 WELD 1
50797 50796 50795 50794 50793 50792 50791 50790

TIP WEAR WEAR
WORK SENSOR
SVSPOT SEARCHING
ALARM ERROR NORMAL
WELD 3 WELD 2
50807 50806 50805 50804 50803 50802 50801 50800

TIP WEAR WEAR
WORK SENSOR
SVSPOT SEARCHING
ALARM ERROR NORMAL
WELD 4 WELD 3
50817 50816 50815 50814 50813 50812 50811 50810

SENSOR
SEARCHING
WELD 4
50827 50826 50825 50824 50823 50822 50821 50820

4-60
Device 2
50837 50836 50835 50834 50833 50832 80531 50830
50847 50846 50845 50844 50843 50842 50841 50840

50857 50856 50855 50854 50853 50852 50851 50850

50867 50866 50865 50864 50863 50862 50861 50860

50877 50876 50875 50874 50873 50872 50871 50870

50887 50886 50885 50884 50883 50882 50881 50880

4-61
Device 3
50897 50896 50895 50894 50893 50892 50891 50890
50907 50506 50905 50904 50903 50902 50901 50900

50917 50916 50915 50914 50913 50912 50911 50910

50927 50926 50925 50924 50923 50922 50921 50920

50937 50936 50935 50934 50933 50932 50931 50930

50947 50976 50945 50944 50943 50942 50941 50940

4-62
Device 4
50957 50956 50955 50954 50953 50952 50951 50950
50967 50966 50965 50964 50963 50962 50961 50960

50977 50976 50975 50974 50973 50972 50971 50970

50987 50986 50985 50984 50983 50982 50981 50980

50997 50996 50995 50994 50993 50992 50991 50990

51007 51006 51005 51004 51003 51002 51001 51000

4-63
4.11 Specific Output Signals for General-Purpose Applications
4.11 Specific Output Signals for General-Purpose Appli-

cations
Device 1
50777 50776 50775 50774 50773 50772 50771 50770
PROHIBIT
START
WORK END WORK
WORK
CONTINUE
50787 50786 50785 50784 50783 50782 50781 50780

50797 50796 50795 50794 50793 50792 50791 50790

50807 50806 50805 50804 50803 50802 50801 50800

50817 50816 50815 50814 50813 50812 50811 50810

50827 50826 50825 50824 50823 50822 50821 50820

4-64
Device 2
50837 50836 50835 50834 50833 50832 80531 50830
PROHIBIT
START
WORK END WORK
WORK
CONTINUE
50847 50846 50845 50844 50843 50842 50841 50840

50857 50856 50855 50854 50853 50852 50851 50850

50867 50866 50865 50864 50863 50862 50861 50860

50877 50876 50875 50874 50873 50872 50871 50870

50887 50886 50885 50884 50883 50882 50881 50880

4-65
Device 3
50897 50896 50895 50894 50893 50892 50891 50890
PROHIBIT
START
WORK END WORK
WORK
CONTINUE
50907 50506 50905 50904 50903 50902 50901 50900

50917 50916 50915 50914 50913 50912 50911 50910

50927 50926 50925 50924 50923 50922 50921 50920

50937 50936 50935 50934 50933 50932 50931 50930

50947 50976 50945 50944 50943 50942 50941 50940

4-66
Device 4
50957 50956 50955 50954 50953 50952 50951 50950
50967 50966 50965 50964 50963 50962 50961 50960

50977 50976 50975 50974 50973 50972 50971 50970

50987 50986 50985 50984 50983 50982 50981 50980

50997 50996 50995 50994 50993 50992 50991 50990

51007 51006 51005 51004 51003 51002 51001 51000

4-67
4.12 Specific Output Signals: Explanation
The following symbols are used in the explanation to represent the signal conditions.
State
The signal takes effect while it is in the Rising The rising edge is detected as the
on state. signal.
4.12.1 Alarms and Messages Display

50010 to 50014: ALARM/ERROR OCCURRENCE
State These signals indicate the occurrence of alarms or errors. The MAJOR ALM
OCCUR (50010) signal remains ON until power is turned off.
Register M340 Alarm Code (Binary/BCD)

If an alarm occurs in the system, the corresponding alarm code is output. If there are two or
more alarms, the code of the first occurring alarm is output. To switch binary and BCD data
type, use the parameter (S2C233). Factory setting is binary.
Register M341, 342 Alarm Data (Binary/BCD)

This data is detailed information added to the alarm code.
50015, 50016: BATTERY WEAK

State These signals are turned ON to indicate that batteries need replacement when voltage
drops in the memory protection battery and the absolute encoder memory retention
battery. Loss of data in memory due to a weak battery causes much damage.
Take the signals as a kind of alarm and take appropriate action.
50017: COOLING FAN ERROR

State This signal is turned ON to inform that the cooling fan is required to be changed when
the CPU rack cooling fan inside NX100 or the cooling fan connected to the power on
unit is not operating normally. Such an error as non-operating cooling fan causes
damages to NX100 and robot components.
Take the signal as a kind of alarm and take appropriate action.
4.12.2 Setting of Mode / Cycle and Particular Play Operation

50050 to 50052: CYCLE SETTING
State These signals indicate the status of specifications of current cycle setting. The signal
corresponding to the selected cycle is turned on.
4-68
50053 to 50054: MODE SETTING

State These signals indicate the status of specifications of current mode settings. The
signals are synchronized with the mode select key lamps on the front door of the
NX100. The signal corresponding to the selected mode is turned on.
50056: COMMAND REMOTE SETTING

State This signal indicates that the command remote function such as transmission is valid.
50060: IN-GUARD SAFE OPERATION SETTING

State This signal indicates that the manipulator is in the in-guard safe operation status.
50061: DRY-RUN SETTING

State This signal indicates that the dry-run is set.
50062: MACHINE LOCK SETTING

State
This signal indicates that the machine lock is set.
50063: SOFT LIMIT RELEASE SETTING

State This signal indicates that the soft limit is released. Switching to the play mode
releases the soft limit automatically and turns off this signal.
50064: CHECK RUN SETTING

State This signal indicates the check run is set.
4.12.3 Start and Stop Signals

50020: HEAD OF MASTER JOB
State This signal indicates that the execution position is at the head of the master job. The
signal can be used as a check signal calling for master job.
50065: PERMISSIBLE WORK IN TEST RUN (FOR ARC ONLY)

State The signal turns ON while the [INTERLOCK]+[WELD ON/OFF] keys are pressed
simultaneously. The LED on the [WELD ON/OFF] button is lit while the signal is ON.
This signal takes effect only in the teach mode.
4-69
50066: POSITION CHECK COMPLETED

State This signal indicates that the position check operation has been completed after
Alarm 4107: OUT OF RANGE (ABSO DATA) occurred . The signal stays ON if the
alarm does not occur after power ON.
50067: FULL SPEED RUNNING

State This signal indicates that the manipulator is running in the condition that the safe
speed limit is released.
50070: RUNNING (Start Lamp)

State This signal indicates that the manipulator is running. That is, the manipulator is either
executing jobs, ready for reserved starting, ready for multi-series starting, or
performing test run. This signal is synchronized with the state of the START button
on the programming pendant.
50071: HOLDING (Hold Lamp)

State This signal indicates that the manipulator is in the HOLDING status as "HOLD" being
instructed. This signal is synchronized with the state of the "HOLD" button on the
programming pendant.
50073: SERVO ON
State This signal indicates that after the servo power is turned on, internal processing such
as current position setting has been completed and the system is ready to accept
START instruction. This can be used for determining external starting conditions.
50074: I/O SIMULATED

State This signal indicates any of the signals that are in the simulation mode in the IO win-
dows.
50075: JOB EDITING OPERATION INDICATION

State This signal indicates that the job to be executed has just been edited, searched, or
manipulated with the cursor on. This can be used for determining starting conditions
after editing.
50076: JOG OPERATION INDICATION

State This signal indicates that the manipulator was made to move an axis or followed the
FWD/BWD operation on the programming pendant. This signal goes OFF
automatically when playback is started. This can be used for determining restarting
condition.
4-70
50077: OT RELEASE
State This signal indicates that the overrun status is released.
50180 to 50197: SERVO ON STATUS

State These signals indicate that the servo power for each robot/station is ON. With the
signal ON, the corresponding servo power for each robot/station is ON.
50200, 50201, 50202, 50203: SEQUENCE WAITING

State These signals indicate that the manipulator is stopped by the SEQUENCE WAIT
(40090, 40091, 40092, or 40093) signal. After accepting the above signal and the
manipulator has stopped, these signals go ON. When sequence wait is cleared, these
signals go OFF before the manipulator starts operating.
50220, 50221, 50222, 50223: SEQUENCE CONTINUING

State These signals indicate that manipulator operation is in executing state in the sequence
of instruction as taught. These signals go ON when the initial job is executed after the
power is turned on.
The same conditions as above are applied to the FWD and TEST operations on the
These signals go OFF in the following cases.
When the cursor is moved by the operation such as change of the line No. with the
programming pendant at the manipulator stop.
When a different job is called up.
When edit operation (insertion, modification, deletion) is executed from the pro-
gramming pendant.
<Example>
These signals can be used for intentional reset of work section information as shown below.
Arc ON Arc OFF Arc Occurrence

Section
Arc Occurrence Sequence
Request Continuing
50240 to 50243: CONTROL GROUP RUNNING

State This signal indicates that the manipulator is running (segment data is not equal to 0)
4-71
50260, 50261, 50262, 50283: WORK RESTART PROHIBIT

State When an emegercy stop is executed during running at high-speed, the job instruction
stop position may advances from the actual manipulator position due to the servo
delay. At restarting, the manipulator moves adjusting this delay, then the job is
executed. When the instruction stop position is in the work section of arc welding,
etc., these signals are ON until the manipulator moves for the delay to reach the
position of work start (Arc ON, etc.). and indicate the work restart prohibited status.
For a system with one manipulator, use signal No. 50260 (R1).
50264, 50265, 50266, 50267: PERMISSIBLE WORK RUNNING

State These signals indicate that the manipulator is running at the actual workable speed.
Thess signals are turned on being synchronized with RUNNING (50264) signal. The
status of these signals during operations other than normal playback operation are
shown below. .
State Meaning
0 : OFF 1 : ON
Machine Lock Operation
0 Dry-Run Operation
Low-Speed Start-Up Operation
During in-guard safety operation
During continuous operation with the
1 programming pendant
When adjusting speed during operation
When speed is limited by the sensor
For a system with one manipulator, use R1J (50264)
50270, 50271, 50272, 50273: SEARCH START

State These signals indicate that SEARCH instruction being executed. These signals can
be used as effective sensing signals for external sensor.
50280, 50281, 50282, 50283: LOCUS DEVIATION

State These signals indicate that the corresponding manipulators are deviating from the
natural locus, as jog operation after the emergency stop or motion stop.
4-72
50350, 50351, 50352: SECURITY MODE

State These signals indicate the current setting of security mode.
50350: Operation mode
50351: Editing mode
50352: Management mode
50354: PLAY MODE ENABLE

State This signal indicates that the play mode enable signal is turned on after changing the
mode to PLAY in the play mode enable function.
4.12.4 Interference Signals

50080 to 50117: IN-CUBE
State These signals indicate the area in which the current control point is positioned, or in
which the axis is positioned in the initially set area. Set the area by parameters
(S2C003 to S2C114, S3C032 to S2C543). These can be used to prevent interference
with other manipulators or jigs.
50140, 50141, 50150, 50151, 50160, 50161, 50170, 50171: S-AXIS

INTERFERENCE AREA
State These signals indicate the area in which the current S-Axis is positioned in the initially
set area. Set the area by parameters (S2C002, S3C024 to S3C031). These can be
used to prevent interference with other manipulators or jigs.
S S
Lef t Are a Right Area
Relation Between the Area and the Signal
50142, 50144, 50146, 50147, 50152, 50154, 50156, 50157, 50162,

50164, 50166, 50167, 50172 to 50177: MOVING SPHERE INTER-
FERENCE AREA
State These signals indicate that interference exists by the moving sphere interference
check. Set the areas by parameters (S2C188 to S2C193, S3C801 to S3C804).
4-73
These signals can be used to check interference of two or more manipulators.
4.12.5 Arithmetic Instruction Signal

50640, 50641, 50642: Arithmetic Flag
State
These signals reflect the result of the arithmetic instruction in the following steps.
There are three kinds of flag: Carry Flag(50640), Zero Flag(50641), and Error
Flag(50642).
4.12.6 Signals During Operation and for Jog Offset Junction

(Optional)
50021, 50022, 50023, 50024, 50025, 50026, 50027: TOP SUB 1, 2,
3, 4, 5, 6, 7 MASTER
State These signals indicate that the execution position is at the head of the master job in
sub task 1, 2, 3, 4, 5, 6, or 7. Use as a checking signal of master job in each sub task
call.
50031, 50032, 50033, 50034, 50035, 50036, 50037: SUB HELD

State These signals indicate sub task 1, 2, 3, 4, 5, 6, or 7 stops the operation by alarm
occurrence or the PAUSE instruction. Operation can be restarted by pressing the
[START] key on the front door of the NX100 or inputting external start (40044).
These signals are turned off when all tasks stop or the sub task is released.
50041, 50042, 50043, 50044, 50045, 50046, 50047: SUB ALARM

OCCUR
State These signals indicate that the sub task is generating an alarm individually during the
system section alarm occurrence (50012) or user section alarm occurrence (50013).
State 0:OFF 1:ON

Meaning
50047 50046 50045 50044 50043 50042 50041
0 0 0 0 0 0 0 All tasks alarms occur
Sub task 1 alarm

0 0 0 0 0 0 1
occurs
: : : : : : : :
Sub tasks 1, 2, 3, 4, 5,
1 1 1 1 1 1 1
6, 7 alarms occur
4-74
50143, 50145, 50153, 50155, 50163, 50165: CRD WORKING

State These signals indicate coordination jobs are working. The signals are turned off when
the job stops (the start lamp goes OFF).
Combination of the robots are as follows:
Signals Combination of the Robots

50143 R1 and R4
50145 R1 and R2
50153 R2 and R4
50155 R2 and R3
50163 R3 and R4
50165 R3 and R1
50320 to 50327: SUB 1, 2, 3, 4, 5, 6, 7, MASTER OPERATING

State These signals indicate that the robot is operating by sub task 1, 2, 3, 4, 5, 6, 7, and the
master job signals.
50330 to 50337: SUB 1, 2, 3, 4, 5, 6, 7, MASTER HOLDING

State These signals indicate that the robot is holding by sub task 1, 2, 3, 4, 5, 6, 7, and the
master job signals.
4.12.7 Signals for Servo Float Function (Optional)

50274, 50275, 50276, 50277: SERVO FLOAT ON
State These signals indicate the servo float operating status.
In the system with one manipulator, use signal No. 50274 (R1).
50300 to 50303: SHOCK DETECTION VALID

State This signal indicates that the shock detection function is valid.
50357: SHOCK DTCT ALM

State This signal indicates that the shock detection alarm "4315: SHOCK DETECTION" cur-
rently occurs.
4-75
4.12.8 Singals for Arc Welding

Signals from 50770 to 51007 are classified into four blocks and assigned to output signals that
have different meanings depending on the application. Most of these outputs are used by the
system so they cannot be used from the outside of the NX100. This section explains
exceptional signals that are available for external use.
50770, 50830, 50890, 50950: WORK START Instructions

State These signals indicate work starting and wait for inputting of the WORK START
RESPONSE (40570, 40630, 40690, 40750) signal.
50771, 50831, 50891, 50951: WORK END Instructions

State These signals indicate work ending and wait for inputting of the WORK END
RESPONSE (40571, 40631, 40691, 40751) signal.
50772, 50832, 50892, 50952: WORK CONTINUING PROHIBIT

Instructions
State These signals indicate whether to continue the operation when resuming after
stopping during the operation. When the signals are on, the operation is not
continued.
4-76
50773, 50833, 50893, 50953: TIP REPLACEMENT REQUEST

State These signals indicate that the preset tip replacement time has come. The signals are
reset by the TIP REPLACEMENT COMPLETED (40573, 40633, 40693, 40753)
signals.
50774, 50834, 50894, 50954: NOZZLE CLEANING REQUEST

State These signals indicate that the set nozzle cleaning request time has come. These
signals are reset by NOZZLE CLEANED (40574, 40634, 40694, 40754) signals.
50775, 50835, 50895, 50955: INCHING

State These signals go ON when using the inching of the work instructions.
NOTE For normal inching, use signal No. OT# 1023, 1015, 1007, 999.
50776, 50836, 50896, 50956: RETRACT

State These signals go ON when using retract of the work instructions.
NOTE For normal inching, use signal No. OT# 1024, 1016, 1008, 1000.
50777, 50837, 50897, 50957: RETRY RETURN PROCESSING

State These signals indicate that the retry returning is executed by the RETRY RETURN
REQUEST (40576, 40636, 40696, 40756) signals.
4-77
50780, 50840, 50900, 50960: RESTART PROCESSING (ARC

SHORTAGE)
State
50781, 50841, 50901, 50961: RESTART PROCESSING (GAS

SHORTAGE)
State
50782, 50842, 50902, 50962: RESTART PROCESSING (WIRE

SHORTAGE)
State These signals indicate that restarting is executed by the RESTART REQUEST
(40580 to 40582, 40640 to 40642, 40700 to 40702, 40760 to 40762) signals. These
can be released by the RESTART PROCESS RESET OT# 1022, 1014, 1006, 998
signals.
For a system with one application,use signal No. 50780, 50781, or 50782.
50783, 50843, 50903, 50963: RESTART RETURN PROCESSING

State These signals are one of the signals related to the restarting operations and indicate
that the restart returning is executed.
For a system with one application,use signal No. 50783.
50784, 50844, 50904, 50964: RETRY SETTING TIME EXCEEDED

State These signals indicate that the accumulated number of restart times has been
reached or exceeded the set value.
50785, 50845, 50905, 50965, : ARC SHORTAGE RESTART SET-

TING TIMES EXCEEDED
State These signals indicate that the accumulated number of arc shortage restart times has
been reached or exceeded the set value.
4-78
50786, 50846, 50906, 50966: AUTOMATIC ANTI-STICKING SET-

TING TIMES EXCEEDED
State These signals indicate that the accumulated number of automatic anti-sticking times
has been reached or exceeded the set value.
50787, 50847, 50907, 50967: RETRY REPLAY MODE

State These signals inform that arc retry is being executed in the replay operation mode.
4.12.9 Signals for Handling

Signals from 50770 to 51007 are classified into fourt blocks and assigned to output signals
that have different meanings depending on the application. Most of these outputs are used by
the system so they cannot be used from the outside of the NX100. This section explains
50776, 50836, 50896, 50956: SHOCK SENSOR FUNCTION

SELECT
State
This signal monitors the status of the shock sensor function use in the handling
application.
50777, 50837, 50897, 50957: SHOCK SENSOR INPUT

These signals output the status signal to show whether the shock sensor input
State
function is valid in the teach mode for the handling application. When concurrent I/O
is the standard handling ladder, an alarm occurs by shock sensor input when these
signals are ON; only a message is displayed on the programming pendant when these
are OFF. JOG and other operations can be executed.
50780 to 50787, 50840 to 50847, 50900 to 50907, 50960 to 50967:

TOOL VALVE OUTPUT
State These signals are specific output signals for tool valves which are turned on/off by the
instruction HAND. When using the HAND instruction, connect it to the specific
input section of the NIO01 board which is connected to these signals.
For a system with one manipulator, use signal No. 50780 to 50787.
4-79
4.12.10 Signals for Spot Welding

Signals from 50770 to 51007 are classified into four blocks and assigned to output signals for
spot welding applications. Most of these inputs are used by the system so they cannot be
used from the outside of the NX100. This section explains exceptional signals that are
available for external use.
50773, 50783, 50793, 50803: WEAR DETECTION NORMAL

State These signals are turned on when the detected wear friction amount is normal after
executing the wear detection with a sensor (TWC-B) by a SVGUNCL instruction.
50774, 50784, 50794, 50804: WEAR DETECTION ERROR (Motor

Gun)
State These signals output pulses (pulse width: 500 msec) if the signal from a sensor is not
turned on/off properly when executing the wear detection with the sensor.
For a system for one application, use signal No. 50774.
50775, 50785, 50795, 50805: CHANGE TIP ALM (Motor Gun)

State These signals output pulses (pulse width: 500 msec) if the electrode wear amount
exceeds the alarm set value (parameter AxP016 and AxP017) when executing the
wear detection.
50776, 50786, 50796, 50806: SVSPOT EXECUTE (Motor Gun)

State These signals turn on while a SVSPOT instruction is executing in a job.
50777: WELDING ON/OFF

State This signal monitors the welding on/off from the programming pendant.
Use this signal when the manual spot welding in the teach mode.
50780, 50790, 50800, 50810: SENSOR DETECTING

State These signals are turned on when the wear detection with a sensor (TWC-B) is exe-
cuting by a SVGUNCL instruction.
4-80
4.12.11 Signals for General-Purpose Applications

Signals from 50770 to 51007 are classified into four blocks and assigned to output signals that
have different meanings depending on the application. Most of these outputs are used by the
system so they cannot be used from the outside of the NX100. This section explains
50770, 50830, 50890, 50950: WORK START Instructions

State These signals indicate work starting and wait for inputting of the WORK START
RESPONSE (40570, 40630, 40690, 40750) signal.
50771, 50831, 50891, 50951: WORK END Instructions

State These signals indicate work ending and wait for inputting of the WORK END
RESPONSE (40571, 40631, 40691, 40751) signal.
50772, 50832, 50892, 50952: WORK CONTINUING PROHIBIT

Instructions
State These signals indicate whether to continue the operation when resuming, after
stopping while at the operation. When the signals are ON, the operation is not
continued.
4-81
5.1 Signals for Arc Welding
5 Internal Signal Used in Standard Ladder
70017 70016 70015 70014 70013 70012 70011 70010

CONTROL
POWER ON START
SYSTEM SYSTEM
COMPLETED RECEIVING EXT START
RESERVE RESERVE
(NORMALITY READY
ON)
70027 70026 70025 70024 70023 70022 70021 70020

SEQUENCE WAIT
REMOTE PROGRAM UNTIL ALARM
SELECT WAIT INTRFRNC OCCUR
REQUEST OFF
70037 70036 70035 70034 70033 70032 70031 70030

INTRF 4 INTRF 3 INTRF 2 INTRF 1
IN CUBE 4 IN CUBE 3 IN CUBE 2 IN CUBE 1 ENTRANCE ENTRANCE ENTRANCE ENTRANCE
PROHIBIT PROHIBIT PROHIBIT PROHIBIT
70047 70046 70045 70044 70043 70042 70041 70040

MOTOR ARC ARC
PSEUDO STICK WIRE GAS ARC
STOP OCCUR OCCUR
ARC ON DETECTION SHORTAGE SHORTAGE SHORTAGE
MEMORY PROHIBIT CHECK
70057 70056 70055 70054 70053 70052 70051 70050

MOTOR MOTOR MOTOR MOTOR MOTOR MOTOR
WIRE WIRE
REVERSE FORWARD REVERSE FORWARD DIRECTION DIRECTION
RETRACT INCHING
ROTATION ROTATION ROTATION ROTATION CHANGE CHANGE
REQUEST REQUEST
PERMIT PERMIT MEMORY MEMORY PROHIBIT PERMIT
70067 70066 70065 70064 70063 70062 70061 70060

ARC
ARC OCCUR ARC OCCUR ARC OCCUR ARC ON WIRE WIRE
ANSWER CONDITION CONDITION CONDITION ARC STOP
ERROR OK MODE CYCLE INTERVAL RETRACT INCHING
(SUB)
70077 70076 70075 70074 70073 70072 70071 70070

STICKING
STICKING STICKING ARC ARC ON
STICKING STICKING DETECTION ARC
(AT ON/ CHECK OCCRRNC CONTINUE
(AT ON) (AT OFF) (AT OFF/ OCCUR
OFF) REQUEST MEMORY PROHIBIT
ERROR)
5-1
70087 70086 70085 70084 70083 70082 70081 70080

STICKING AUTO
ARC AUTO
CHECKED STICKING STICKING STICKING NO STICKING
SHORTAGE STICKING
(AT ARC ANS RELEASE CHECKED CHECK STICKING (FINAL)
(AT ARC ON) RELEASE
ERROR) COUNTINUE
70097 70096 70095 70094 70093 70092 70091 70090

ARC ARC
RESTART RETRY RETRY
RETRY RETRY ANSWER ANSWER
RETURN RETRYING PROCES- REQUEST
COUNT TESTED ERROR ERROR
MEMORY SING MEMORY
OUTPUT (FINAL)
70107 70106 70105 70104 70103 70102 70101 70100

WIRE GAS ARC ARC ARC
SHORTAGE SHORTAGE SHORTAGE RESTART RESTART SHORTAGE SHORTAGE
RESTARTING RESTART
MESSAGE MESSAGE ALARM INVALID MEMORY RESTART
CONDITION CONDITION CONDITION MEMORY MEMORY
RESET
70117 70116 70115 70114 70113 70112 70111 70110

ARC ARC WIRE GAS
SHORTAGE SHORTAGE RESTART
SHORTAGE SHORTAGE
ALARM ALARM MESSAGE
ALARM ALARM
CONDITION CONDITION INVALID
CONDITION CONDITION
WAITING 2 WAITING 1
70127 70126 70125 70124 70123 70122 70121 70120

ARC ARC STOP WIRE WIRE GAS GAS
RESTART OPERATION (AT ARC SHORTAGE SHORTAGE SHORTAGE SHORTAGE
REQUEST CONTINUING SHORTAGE MESSAGE MESSAGE MESSAGE MESSAGE
CONDITION RESTART) CONDITION CONDITION CONDITION CONDITION
WAITING 2 WAITING 1 WAITING 2 WAITING 1
70137 70136 70135 70134 70133 70132 70131 70130

STICKING NO MOVE TEST RUN TEST RUN
STICKING DETECTION MOVE MOVE ARC ON ARC ON
STICKING STICKING
(MOVE AT MOVING STICKING STICKING SELECT SELECT
(MOVE CHECK
CHECK) (MOVE CHECKING CHECK (OPERATION (MANAGE-
CHECK) PROHIBIT
CHECK) & EDIT) MENT)
70147 70146 70145 70144 70143 70142 70141 70140
70157 70156 70155 70154 70153 70152 70151 70150

ARC AND ARC ARC ARC ARC ARC
RELAY ARC WELDING SHORTAGE SHORTAGE SHORTAGE
CONFIRM SHORTAGE
STICKING OCCURING POWER REQUEST REQUEST REQUEST
RELAY (ROBOT
CONFIRM (STATE) ERROR DELAY TIME DELAY TIME DELAY TIME
STICKING SIDE)
AUXILIARY 30 msec 20 msec 10 msec
79997 79996 79995 79994 79993 79992 79991 79990
5-2
5.2 Signals for Handling
5.2 Signals for Handling
70017 70016 70015 70014 70013 70012 70011 70010

CONTROL
POWER ON SYSTEM SYSTEM
COMPLETED EXT START
RESERVE RESERVE
(NORMALITY
ON)
70027 70026 70025 70024 70023 70022 70021 70020

WAIT
REMOTE UNTIL ALARM
EXT HOLD
SELECT INTRFNC OCCUR
OFF
70037 70036 70035 70034 70033 70032 70031 70030

70047 70046 70045 70044 70043 70042 70041 70040

INTRF 7 INTRF 6 INTRF 5
IN CUBE 7 IN CUBE 6 IN CUBE 5 ENTRANCE ENTRANCE ENTRANCE
PROHIBIT PROHIBIT PROHIBIT
70057 70056 70055 70054 70053 70052 70051 70050

AIR
SHOCK WORK
PRESSURE WORK WORK
SENSOR INST CONT
LOW RUNNING INSTRUCTION
INPUT PROHIBIT
INPUT
70067 70066 70065 70064 70063 70062 70061 70060
PLAY/1 PLAY/1
PLAY/CONT PLAY/CONT
CYCLE CYCLE
SELECT SELECTING
SELECT SELECTING
79997 79996 79995 79994 79993 79992 79991 79990
5-3
5.3 Signals for Spot Welding
70017 70016 70015 70014 70013 70012 70011 70010

CONTROL
POWER ON START
SYSTEM SYSTEM
RESERVE RESERVE
(NORMALITY READY
ON)
70027 70026 70025 70024 70023 70022 70021 70020

WAITING
REMOTE UNTIL ALARM
SELECT INTRFRNC OCCUR
OFF
70037 70036 70035 70034 70033 70032 70031 70030

70047 70046 70045 70044 70043 70042 70041 70040

WELDING WELDING
STOP ON/OFF
INPUT REQUEST
70057 70056 70055 70054 70053 70052 70051 70050

GUN COOL TIMER COOL
WATER WATER
ERROR ERROR
INPUT
INPUT
70067 70066 70065 70064 70063 70062 70061 70060

AIR TRANS
PRESSURE THERMO
LOW ERROR ERROR
INPUT
INPUT
70077 70076 70075 70074 70073 70072 70071 70070

WELDING
ON/OFF
OUTPUT
70087 70086 70085 70084 70083 70082 70081 70080

AIR PRESS TRANS GUN COOL TIMER COOL
LOW THERMO WATER WATER
ALARM ALARM ALARM ALARM
REQUEST
REQUEST REQUEST REQUEST
5-4
70097 70096 70095 70094 70093 70092 70091 70090

AIR PRESS GUN COOL TIMER COOL
LOW WATER WATER
MESSAGE MESSAGE MESSAGE
REQUEST
REQUEST REQUEST
70107 70106 70105 70104 70103 70102 70101 70100

SERVO SERVO SERVO SERVO
SERVO INITIAL INITIAL
AUTO OFF AUTO OFF AUTO OFF AUTO OFF
AUTO OFF THROUGH THROUGH
AUXILIARY AUXILIARY AUXILIARY AUXILIARY
RESULT 2 1
4 3 2 1
79997 79996 79995 79994 79993 79992 79991 79990
5-5
5.4 Signals for General-Purpose Applications
5.4 Signals for General-Purpose Applications
70017 70016 70015 70014 70013 70012 70011 70010

CONTROL
POWER ON EXT START
SYSTEM SYSTEM
RESERVE RESERVE
(NORMALITY READY
ON)
70027 70026 70025 70024 70023 70022 70021 70020

WAIT
REMOTE UNTIL ALARM
SELECT INTRFRNC OCCUR
OFF
70037 70036 70035 70034 70033 70032 70031 70030

70047 70046 70045 70044 70043 70042 70041 70040

WORK
WORK INSTRUCTION WORK WORK
PROHIBIT CONTINUE OPERATING INSTRUCTION
PROHIBIT
70057 70056 70055 70054 70053 70052 70051 70050
79997 79996 79995 79994 79993 79992 79991 79990
5-6
6.1 Internal Control Status Signals
6 Internal Control Status Signals
* : NC contact
80017 80016 80015 80014 80013 80012 80011 80010
SVON START HOLD TEACH PLAY REMOTE EDIT_LOCK
EDIT_LOCK Editing Prohibit

REMOTE Remote Mode Select
PLAY Play Mode Select
TEACH Teach Mode Select
*HOLD Hold (Programming Pendant)
START Operation Start (Programming Pendant)
SVON Servo On (Programming Pendant)
80027 80026 80025 80024 80023 80022 80021 80020
PBESP PPESP EXESP ERRCPU SAFF
*SAFF Safety Plug Input

*ERRCPU NCP01 CPU Error (Emergency Stop)
*EXESP External Emergency Stop
*PPESP Programming Pendant Emergency Stop
*PBESP NX100 Door Emergency Stop
6-1
80037 80036 80035 80034 80033 80032 80031 80030
EXSVON EXDSW EXHOLD DSW SVONRDY1 MAINTE SVONRDY0
SVONRDY0 Servo ON Condition 1

MAINTE Maintenance Input
SVONRDY1 Servo ON Condition 2
DSW Deadman Switch Input
*EXHOLD External Hold
EXDSW External Deadman Switch Input
EXSVON External Servo On
80047 80046 80045 80044 80043 80042 80041 80040
FST SSP SAFSPD1 SAFSPD2
SAFSPD2 Safe Speed 2

SAFSPD1 Safe Speed 1
SSP Safe Speed Mode Select
FST Full-speed Test
80057 80056 80055 80054 80053 80052 80051 80050
EX24VU_OK 24VU_OK
24VU_OK 24V OK
EX24VU_OK External 24V OK
6-2
80067 80066 80065 80064 80063 80062 80061 80060
OT EXOT SHOCK1 ERRSVCPU FUCUT ON-EN SHOCK2
*SHOCK2 Shock Sensor Operation Hold

*ON-EN Servo On Enabled
*FUCUT Blake Fuse Blown
*ERRSVCPU Servo CPU Error
*SHOCK1 Shock Sensor Operation Emergency Stop
*EXOT Ex-Axis Over Travel
*OT Over Travel
80077 80076 80075 80074 80073 80072 80071 80070
CPDIN4 CPDIN3 CPDIN2 CPDIN1
CPDIN1 (CPRIN1) Direct In (System) 1

80087 80086 80085 80084 80083 80082 80081 80080
AXDIN5 AXDIN4 AXDIN3 AXDIN2 AXDIN1
AXDIN1 (RIN1) Direct In (Servo) 1

6-3
80097 80096 80095 80094 80093 80092 80091 80090
80647 80646 80645 80644 80643 80642 80641 80640
6.1.1 Internal Control Status Signal (Monitor)

State
on state. signal.
80010: EDITING PROHIBITION

State This signal indicates the operating status of the [EDIT LOCK] key.
80011 to 80013: MODE SELECTION

State These signals indicate the status of the mode key of the programming pendant.
80015: *PROGRAMMING PENDANT PANEL HOLD

State This signal indicates the operating status of the [START] key on the programming pen-
dant.
80016: OPERATION START

State This signal indicates the operating status of the [START] key on the programming pen-
dant.
6-4
80017: SERVO POWER ON

State
This signal indicates the operating status of the [SERVO POWER] key on the pro-
gramming pendant.
80023: *SAFETY PLUG INPUT

State
This signal turns off when the safety guard input signal, connected to the specific input
terminal block, operates.
For the connection, refer to 12.3.2 Units and Circuit Boards in the CPU Unit of the
NX100 Instructions.
80024: *NCP01 CPU ERROR

State
This signal turns off when the servo turns off in the system (NCP01 CPU).
80025: *EXTERNAL EMERGENCY STOP

State
This signal is OFF when the emergency stop signal, connected to the specific input
terminal block, is operating. For the connection, refer to the 12.3.2 Units and Circuit
Boards in the CPU Unit of the NX100 Instructions.
80026: *PROGRAMMING PENDANT EMERGENCY STOP

State This signal is OFF when the emergency stop on the programming pendant is
operating.
80027: * NX100 DOOR EMERGENCY STOP

State This signal is OFF when the emergency stop on the upper part of the NX100 door is
operating.
80031: SERVO ON CONDITION 1

State
This signal turns on when the following signals satisfy the conditions for servo ON
status.
When this signal turns off while the servo is ON, the servo power supply is shut down.
+24V
EXESP PBESP PPESP ERRCPU SVON

SVONRDY0
EXSVON
024V
SVONRDY0
6-5
80032: MAINTENANCE INPUT

State
This signal indicates the operation status of the external maintenance input signal.
This signal is input from the specific input terminal block.
For the connection, refer to 12.3.2 Units and Circuit Boards in the CPU Unit of the
NX100 Instructions.
80033: SERVO ON CONDITION 2

State
This signal turns on when the following signals satisfy the conditions for servo ON
status.
When this signal turns off while the servo is ON, the servo power supply is shut down.
+24V
TEACH DSW EXDSW

SVONRDY1
PLAY SAFF
024V
TEACH: Teach Mode

PLAY : Play Mode
80034: DEADMAN SWITCH INPUT

State
This signal indicates the operating status of deadman switch input signal.
This signal turns on by holding the deadman switch and turns off by holding longer
until it clicks.
80035: *EXTERNAL HOLD

State This signal indicates the operation status of the hold signal from the outside. The
signal is input from the specific input terminal block. For the connection, refer to the
12.3.2 Units and Circuit Boards in the CPU Unit of the NX100 Instructions.
80036: EXTERNAL DEADMAN SWITCH INPUT

State This signal indicates the operating status of the external deadman switch input signal.
80037: EXTERNAL SERVO ON INPUT

State This signal is ON when the servo power instruction is input from the outside. The
signal is input from the specific input terminal block. For the connection, refer to the
12.3.2 Units and Circuit Boards in the CPU Unit of the NX100 Instructions.
6-6
80040: SAFE SPEED 2

State
This signal turns on in the safe speed 2 condition.
80041: SAFE SPEED 1

State
This signal turns on in the safe speed 1 condition.
80046: SAFE SPEED MODE SELECT

State
This signal is ON either in the safe speed 1 or the safe speed 2 condition.
80047: FULL-SPEED TEST

State
This signal is ON when the safe speed limit is released.
80050: 24V OK
State
This signal is ON when 24V power for I/O is supplied normally. For the connection of
I/O power supply, refer to the 12.3.2 Units and Circuit Boards in the CPU Unit of the
NX100 Instructions.
80051: EXTERNAL 24V OK

State
This signal is ON when 24V external power for I/O is supplied normally. For the
connection of I/O power supply, refer to the 12.3.2 Units and Circuit Boards in the
CPU Unit of the NX100 Instructions.
80060: *SHOCK SENSOR OPERATION HOLD

This signal incicates the detecting status of the shock sensor operation detecting cir-
State
cuit.
This signal is input from the NIO01 board.
This signal is valid when HOLD is set for the shock sensor stop designation in the
overrun and shock sensor release window.
80061: *SERVO ON ENABLED

State
This signal indicates the detecting status of servo ON enabled.
80062: *BRAKE FUSE BLOWN-OFF

State
This signal turns off when the fuse of the brake excitation circuit is blown off.
6-7
80064: *SERVO CPU ERROR

State
This signal turns off when an error is detected in the servo system (AXA01 CPU).
80065: *SHOCK SENSOR OPERATION EMERGENCY STOP

This signal indicates the detecting status of the shock sensor operation detecting
State
circuit.
This signal is valid when EMERGENCY STOP is set for the shock sensor stop
designation in the overrun and shock sensor release window.
80066: *EXTERNAL AXIS OVERTRAVEL

State
This signal turns off when the external axis overrun LS operates.
80067: *OVERTRAVEL
State
This signal turns off when the robot axis overrun LS operates.
80070 to 80073: DIRECT IN (SYSTEM) 1 to 4

State
These signals indicate the status of direct in (system) input signals. The signals are
input from the specific input terminal block.
80080 to 80084: DIRECT IN (SERVO) 1 to 5

State
These signals indicate the status of direct in (servo) input signals. The signals are
input from the specific input terminal block.
6-8
7.1 Pseudo Input Signals
7 Pseudo Input Signals
State
on state. signal.
7.1 Pseudo Input Signals
82014 to 82016: REMOTE FUNCTION SELECTION

State The pseudo input signal window allows to set whether the I/O, commands, or
programming pendant is used at the remote mode selection.
These signals indicate the status set in the pseudo input signal window as shown
below.
(0:OFF 1:ON)
82014 IO 0:Used 1:Not Used
82015 Command 0:Not Used 1:Used
82016 Programming Pendant 0:Used 1:Not Used
82020 to 82027: SIGNAL SELECT STATUS (SPOT WELDING)

State The pseudo input signal window allows to set the use of the signals for the spot
welding.
The signals indicate the setting status in the pseudo input signal window. If the setting
is ON, the signals for the spot welding are assigned. If the setting is OFF, the general
output signals are assigned.
The status is as follows;

(0:OFF 1:ON)
82020 TIMER COOLING WATER ERROR INPUT 0:Not Used 1:Used
82021 GUN COOLING WATER ERROR INPUT 0:Not Used 1:Used
82022 TRANS. THERMO. ERROR INPUT 0:Not Used 1:Used
82023 AIR PRESSURE LOWERED INPUT 0:Not Used 1:Used
82024 WELDING ON/OFF OUTPUT 0:Not Used 1:Used
82025 SHUT OFF VALVE CONTROL 0:Not Used 1:Used
82026 ENERGY-SAVING MODE 0:Invalid 1:Valid
82027 STAND ALONE MODE 0:Invalid 1:Valid
7-1
8 Network I/O Signals
Network input signals are related to optional network functions. For the detailed information,
refer to the operators manual regarding each network function.
8-1
9 Interface Panel Signals
Interface panel signals are related to the optional interface panel functions. For details, refer
to "NX100 OPTIONS INSTRUCTIONS FOR INTERFACE PANEL FUNCTION" (Manual No.
HW0482596).
9-1
10.1 Hardware Specific Input
10 I/O Except Concurrent I/O
The following signal is connected directly to the manipulator control section without passing
through the concurrent I/O.
Adequate care should be taken for switch setting and method of connection when using this
signal.
CAUTION
Before use, remove any jumper leads from the specific input signals.
Failure to observe this instruction may result in the malfunction leading to injury or dam-
age to the equipment.
10-1
MXT
CNM +24V2
4 9 SAFF1+ 86
29 10 SAFF1- 36
SAFF1
5 11 SAFF2+ 72 SAFF2
30 12 SAFF2- 22
6 13 MAINTE1+ 85
31 14 MAINTE1- 36
MAINTE1
7 15 MAINTE2+ 71 MAINTE2
32 16 MAINTE2- 21
8 17 SVON+ 79
33 18 SVON- 29 SVON
9 19 HS1+ 84 SVON
34 20 HS1- 34
HS1
10 21 HS2+ 70 HS2
35 22 HS2- 20
11 23 FST1+ 83
36 24 FST1- 33
FST1
12 25 FST2+
69 FST2
37 26 FST2- 19
13 27 SSP+ 78
38 28 SSP- 28 SSP
14 29 EXSVON+ 77 SSP
39 30 EXSVON- 27 EXSVON
15 31 EXHOLD+ 76 EXSVON
40 32 EXHOLD- 26
16 33 EXDSW11+ 82 EXHOLD
Input Signals 41 34 EXDSW11- 32
for Manipulator EXDSW11
17 35 EXDSW12+ 68
EXDSW12
42 36 EXDSW12- 18
18 37 RSV1+ 81
43 38 RSV1- 31
RSV1
19 39 RSV2+ 67 RSV2
44 40 RSV2- 17
CNAT3
0 1 CPDIN1 99
25 2 CPDIN2 49 CPDIN1
1 3 CPDIN3 CPDIN2
98
26 4 CPDIN4 CPDIN3
48
2 5 DINCOM 97 CPDIN4
3 7 +24V2
28 8 024V2
024V2
CNK
21 43 AXDIN1 51
46 44 AXDIN2 AXDIN1
11
22 45 AXDIN3 50 AXDIN2
47 46 AXDIN4 AXDIN3
10
23 47 AXDIN5 AXDIN4
49
48 48 DINCOM 9 AXDIN5
24 49 +24V2
+24V2
49 50 024V2
024V2
JANCD-NBB01 SGDR-AXA01A(1/6)
Connection of Specific Inputs
10-2
10.2 I/O Except Concurrent I/O: Explanation
CAUTION
Use the MAINTE (Maintenance) input with normally open circuit.
Use the switch which has the key for MAINTE input. The system manager is responsible
for storage of the key.
Any deadman switch is invalid at the "MAINTE" input.
EXESP: FOR EXTERNAL EMERGENCY STOP
State This signal allows to use the emergency stop switch of an external operation equip-
ment. When this signal is input, the servo power goes OFF, and the job execution is
stopped. The servo power cannot be turned on while this signal is being input.
This function becomes invalid by connecting the jumper wire.
EXHOLD: FOR EXTERNAL HOLD

State This signal allows to use the hold switch of an external operation equipment. When
this signal is input, the job execution stops. The start and axis functions cannot be
used while this signal is being input.
This function becomes invalid by connecting the jumper wire.
SAFF: FOR SAFETY PLUG

State This signal turns off the servo power when the door of the safeguard is open. Connect
interlock signals such as a safety plug installed in the safeguard door. Install an
interlock signal such as safety plugs in door of the safeguard. When the interlock
signal 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 ON

Rising This signal allows to turn on the servo power. Use the signal to turn on the servo
power by external equipment. Apart from this signal, the external servo on signal as
the specific input (40045) is provided. Make this signal invalid by connecting the
jumper wire before using this signal.
For safer use of the robot, use of this signal (EXSVON) which has no intervention of
ladders (software) is recommended.
10-3
CPDIN1 to 4: FOR DIRECT IN (SYSTEM) INPUT SIGNAL 1 to 4

State This signal can be used in conjunction with the search function.
AXDIN1 to 5: FOR DIRECT IN (SERVO) INPUT SIGNAL 1 to 5

State This signal can be used in conjunction with the search function.
MAINTE: MAINTENANCE INPUT SIGNAL

State If the signal input circuit is short-circuited, the Enable switch (DSW) and the Safety
Plug are disabled.
Usually, use the system with this signal circuit open (nothing connected).
If the circuit for this signal must be used for an unavoidable reason, be sure to use a
switch with a key that is kept under the care of the system manager.
10-4
11.1 Common Usage for All Applications
11 Register
11.1.1 General Register

M009 M008 M007 M006 M005 M004 M003 M002 M001 M000
M019 M018 M017 M016 M015 M014 M013 M012 M011 M010
M029 M028 M027 M026 M025 M024 M023 M022 M021 M020
M039 M038 M037 M036 M035 M034 M033 M032 M031 M030
M049 M048 M047 M046 M045 M044 M043 M042 M041 M040
M059 M058 M057 M056 M055 M054 M053 M052 M051 M050
M069 M068 M067 M066 M065 M064 M063 M062 M061 M060
:
:
M209 M208 M207 M206 M205 M204 M203 M202 M201 M200
M219 M218 M217 M216 M215 M214 M213 M212 M211 M210
WIRE WIRE WELDING ARC ARC
STIKICNG SHORTAGE CONFIRM
SYSTEM INCHING RETRACT POWER
RELEASE (ROBOT RELAY
RESERVE REQUEST REQUEST ERROR
(ARITH) SIDE) STICKING
TMR TMR TMR
TMR TMR
11-1
M269 M268 M267 M266 M265 M264 M263 M262 M261 M260
ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG
OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT
10 9 8 7 6 5 4 3 2 1
M279 M278 M277 M276 M275 M274 M273 M272 M271 M270
20 19 18 17 16 15 14 13 12 11
M289 M288 M287 M286 M285 M284 M283 M282 M281 M280
30 29 28 27 26 25 24 23 22 21
M299 M298 M297 M296 M295 M294 M293 M292 M291 M290
40 39 38 37 36 35 34 33 32 31
11-2
11.1.2 System Register

M309 M308 M307 M306 M305 M304 M303 M302 M301 M300
INPUT INPUT INPUT INPUT INPUT INPUT INPUT INPUT INPUT INPUT
10 9 8 7 6 5 4 3 2 1
M319 M318 M317 M316 M315 M314 M313 M312 M311 M310
20 19 18 17 16 15 14 13 12 11
M329 M328 M327 M326 M325 M324 M323 M322 M321 M320
30 29 28 27 26 25 24 23 22 21
M339 M338 M337 M336 M335 M334 M333 M332 M331 M330
40 39 38 37 36 35 34 33 32 31
M349 M348 M347 M346 M345 M344 M343 M342 M341 M340
ERROR ERROR ERROR ALARM ALARM ALARM
DATA DATA CODE DATA DATA CODE
H L H L
M359 M358 M357 M356 M355 M354 M353 M352 M351 M350
M369 M368 M367 M366 M365 M364 M363 M362 M361 M360
M379 M378 M377 M376 M375 M374 M373 M372 M371 M370
M389 M388 M387 M386 M385 M384 M383 M382 M381 M380
M399 M398 M397 M396 M395 M394 M393 M392 M391 M390
M409 M408 M407 M406 M405 M404 M403 M402 M401 M400
11-3
M419 M418 M417 M416 M415 M414 M413 M412 M411 M410
:
:
M459 M458 M457 M456 M455 M454 M453 M452 M451 M450
11-4
11.2 Arc Welding
11.2 Arc Welding
M229 M228 M227 M226 M225 M224 M223 M222 M221 M220
M239 M238 M237 M236 M235 M234 M233 M232 M231 M230
M249 M248 M247 M246 M245 M244 M243 M242 M241 M240
M259 M258 M257 M256 M255 M254 M253 M252 M251 M250
MOVE NO STICKING WIRE ANTI NO STICKING ARC
STICKING RESTART RETRY OPERATION STICKING ANSWR
MOVE RELEASE STICKING CHECK
CHECK (PRESENT (PRESENT SWITCH CHECK ERROR
STICKING (PRESENT (PRESENT (PRESENT
(PRESENT VALUE) VALUE) (PRESENT (PRESENT (PRESENT
CHECK VALUE) VALUE) VALUE)
VALUE) VALUE) VALUE) VALUE)
M469 M468 M467 M466 M465 M464 M463 M462 M461 M460
STICKING WIRE ANTI NO STICKING ARC
RESTART RETRY OPERATION STICKING ANSWR
RELEASE STICKING CHECK
(ONCE) (ONCE) SWITCH CHECK ERROR
(3 TIMES) (0.3 SEC) (1.0 SEC)
(0.5 SEC) (0.2 SEC) (3.0 SEC)
M479 M478 M477 M476 M475 M474 M473 M472 M471 M470
M489 M488 M487 M486 M485 M484 M483 M482 M481 M480
M499 M498 M497 M496 M495 M494 M493 M492 M491 M490
11-5
11.3 Handling
11.3 Handling
M229 M228 M227 M226 M225 M224 M223 M222 M221 M220
M239 M238 M237 M236 M235 M234 M233 M232 M231 M230
M249 M248 M247 M246 M245 M244 M243 M242 M241 M240
M259 M258 M257 M256 M255 M254 M253 M252 M251 M250
M469 M468 M467 M466 M465 M464 M463 M462 M461 M460
M479 M478 M477 M476 M475 M474 M473 M472 M471 M470
M489 M488 M487 M486 M485 M484 M483 M482 M481 M480
M499 M498 M497 M496 M495 M494 M493 M492 M491 M490
11-6
11.4 General Purposes
11.4 General Purposes
M229 M228 M227 M226 M225 M224 M223 M222 M221 M220
M239 M238 M237 M236 M235 M234 M233 M232 M231 M230
M249 M248 M247 M246 M245 M244 M243 M242 M241 M240
M259 M258 M257 M256 M255 M254 M253 M252 M251 M250
M469 M468 M467 M466 M465 M464 M463 M462 M461 M460
M479 M478 M477 M476 M475 M474 M473 M472 M471 M470
M489 M488 M487 M486 M485 M484 M483 M482 M481 M480
M499 M498 M497 M496 M495 M494 M493 M492 M491 M490
11-7
11.5 Spot Welding
11.5 Spot Welding
M229 M228 M227 M226 M225 M224 M223 M222 M221 M220
M239 M238 M237 M236 M235 M234 M233 M232 M231 M230
M249 M248 M247 M246 M245 M244 M243 M242 M241 M240
M259 M258 M257 M256 M255 M254 M253 M252 M251 M250
AIR GUN TIMER
PRESSURE COOL COOL
LOWERED ERROR ERROR
(PRESENT (PRESENT (PRESENT
VALUE) VALUE) VALUE)
M469 M468 M467 M466 M465 M464 M463 M462 M461 M460
AIR GUN TIMER
PRESSURE COOL COOL
LOWERED ERROR ERROR
(3.0 SEC) (3.0 SEC) (3.0 SEC)
M479 M478 M477 M476 M475 M474 M473 M472 M471 M470
M489 M488 M487 M486 M485 M484 M483 M482 M481 M480
M499 M498 M497 M496 M495 M494 M493 M492 M491 M490
11-8
12.1 List of Usable Instructions
12 Standard Ladder Program
The following table shows a list of usable instructions in concurrent I/O.
SUPPLE-
In the instruction, there are two kinds of instructions, the one which uses the memory of
MENT one step and the other which uses the memory of two steps.
Instruction Symbol Function Format Remarks

STR Logic line starting STR #XXXXX 1 Step
Temporary storing of inter- Instruction
mediate result in logical
operation
Relay No. #XXXXX
STR-NOT NC contact used to start the STR-NOT 1 Step
logic line #XXXXX Instruction
Temporary storing of inter-
mediate result in logical
operation
Relay No. #XXXXX
AND Logical AND AND #XXXXX 1 Step
Relay No. #XXXXX Instruction
AND-NOT Logical AND negation AND-NOT 1 Step
Relay No. #XXXXX #XXXXX Instruction
OR Logical OR OR #XXXXX 1 Step
OR-NOT Logical OR negation OR-NOT 1 Step

Relay No. #XXXXX #XXXXX Instruction
AND-STR Logical AND for intermedi- AND-STR 1 Step

ate are result Instruction
OR-STR Logical OR for intermediate OR-STR 1 Step

are result Instruction
OUT External or internal output OUT #XXXXX 1 Step

PART User/System Identification PART N 1 Step

(Not displayed on the pro- Instruction
gramming pendant)
END Program end END 1 Step
(Not displayed on the pro- Instruction
gramming pendant)
12-1

TMR ON-delay time (100ms) TMR D,S 2 Steps
Set Value Set Value (S) Instruction
TMR Decimal (0-65535)
Curr Value Register (M000-M499)
Curr value (D)
Register (M000-M259)
CNT Subtract counter CNT D,S 2 Steps
C Set value (S) Instruction
Set Value
Decimal (0-65535)
CNT
Curr Value
R Curr value (D)
GSTR Transmission of batch con- GSTR 1 Step
#XXXX0 tents of 1 group (8 bits) #XXXX0 Instruction
GRP Relay No. #XXXX0
GOUT GOUT 1 Step
#XXXX0 #XXXX0 Instruction
PLS Rising up pulse output PLS #XXXXX 1 Step
PLS
#XXXXX
Exe Condition
PLF Rising down pulse output PLF #XXXXX 1 Step

PLF
#XXXXX
Exe Condition
ADD Add 16 bits unsigned binary ADD S1,S2,D 2 Steps

S1
data (0-65535) Instruction
S2 S1, S2: Source
ADD Exe Condition
Decimal (0-65535)
D Register (M000-M499)
D: Destination
DS1+S2 Register (M000-M299)
Arith Flag: Carry=0/1; Zero=0/1; (Error=0)
SUB S1
Subtract 16 bits unsigned SUB S1,S2,D 2 Steps
binary data (0-65535) Instruction
S2
S1, S2: Source
SUB Exe Condition
Decimal (0-65535)
D: Destination
DS1-S2 Register (M000-M299)
Arith Flag: Carry=0/1; Zero=0/1; (Error=0)
MUL S1
Multiply 16 bits unsigned MUL S1,S2,D 2 Steps
S2
S1, S2: Source
MUL Decimal (0-65535) Exe Condition
Dn Register (M000-M499)
Dn, Dn+1: Destination
Dn+1,DnS1xS2 Dn: Low data storing reg-
Arith Flag: (Carry=0); (Zero=0); (Error=0) ister
Dn+1: High data storing
register
12-2

DIV S1
Divide 16 bits unsigned DIV S1,S2,D 2 Steps
S2
S1, S2: Source
DIV Exe Condition
Decimal (0-65535)
D: Destination
D(Quotient)S1/S2 Register (M000-M299)
Arith Flag: (Carry=0); (Zero=0); Error=0/1
MOD S1
Modules of 16 bits unsigned MOD S1,S2,D 2 Steps
S2
S1, S2: Source
MOD Exe Condition
Decimal (0-65535)
D: Destination
D(Modulus)S1/S2 Register (M000-M299)
Arith Flag: (Carry=0); (Zero=0); Error=0/1
BIN Convert 8/16 bits data from BIN S,D 2 Steps
S BCD to BIN Instruction
BIN S: Source
Exe Condition
Relay No. (byte) #XXXX0
Relay No. (word)
DS W#XXXX0
Arith Flag: Carry=0/1; (Zero=0); Error=0/1
D: Destination
Register (M000-M299))
Relay No. (word)
W#XXXX0
BCD Convert 8/16 bits data from BCD S,D 2 Steps
S BIN to BCD Instruction
BCD S: Source
Exe Condition
Relay No. (word)
DS W#XXXX0
Arith Flag: Carry=0/1; (Zero=0); Error=0/1
D: Destination
Relay No. (word)
W#XXXX0
MOV Transmit 8/16 bits data MOV S,D 2 Steps
S S: Source Instruction
MOV Decimal (0-65535)
Exe Condition
Relay No. (word)
DS W#XXXX0
D: Destination
Relay No. (word)
W#XXXX0
12-3

WAND S1
Logical AND of 8/16 bits WAND 2 Steps
data S1,S2,D Instruction
S2
S1, S2: Source
WAND Exe Condition
Decimal (0-65535)
DS1 S2 Relay No. (word)
W#XXXX0
D: Destination
Relay No. (word)
W#XXXX0
WOR Logical OR of 8/16 bits data WOR S1,S2,D 2 Steps
S1
S1, S2: Source Instruction
S2 Decimal (0-65535)
WOR Exe Condition
D Relay No. (byte)
W#XXXX0
DS1 S2 D: Destination
Relay No. (word)
W#XXXX0
WXOR S1
Exclusive OR of 8/16 bits WXOR 2 Steps
data S1,S2,D Instruction
S2
S1, S2: Source
WXOR Decimal (0-65535) Exe Condition
Relay No. (word)
D(S1 S2) (S1 S2)
W#XXXX0
D: Destination
Relay No. (word)
W#XXXX0
WNOT Logical NOT of 8/16 bits WNOT S,D 2 Steps
S data Instruction
WNOT S: Source
Exe Condition
D Decimal (0-65535)
DS
Relay No. (word)
W#XXXX0
D: Destination
Relay No. (word)
W#XXXX0
12-4

SHL Left shift of 8/16 bits data SHL S,n,D 2 Steps
n Decimal (0-65535)
Exe Condition
SHL Register (M000-M499)
D Relay No. (byte) #XXX0
Relay No. (word)
MSB S LSB
Carry W#XXXX0
0
n times shift n: Shift count
Decimal (0-16)
D: Destination
Arith Flag: Carry=0/1; (Zero=0); (Error=0) Relay No. (byte) #XXXX0
Relay No. (word)
W#XXXX0
SHR Right shift of 8/16 bits data SHR S,n,D 2 Steps
n Decimal (0-65535)
Exe Condition
SHR Register (M000-M499)
D Relay No. (byte) #XXXX0
Relay No. (word)
MSB S LSB W#XXXX0
0 Carry
n: Shift count
n times shift
Decimal (0-16)
D: Destination
Relay No. (word)
W#XXXX0
ROL S
Left rotation of 8/16 bits data ROL S,n,D 2 Steps
S: Source Instruction
n
Decimal (0-65535)
ROL Exe Condition
D Relay No. (byte) #XXXX0
Relay No. (word)
MSB S LSB W#XXXX0
Carry 0 n: Rotation count
n times rotation
Decimal (0-16)
D: Destination
(Note) Carry flag is not included in rotation. Relay No. (byte) #XXXX0
Arith Flag: Carry=0/1; (Zero=0); (Error=0)
Relay No. (word)
W#XXXX0
ROR Right rotation of 8/16 bits ROR S,n,D 2 Steps
S
data Instruction
n S: Source
ROR Exe Condition
Decimal (0-65535)
MSB S LSB Relay No. (word)
0 Carry
W#XXXX0
n times rotation n: Rotation count
Decimal (0-16)
D: Destination
(Note) Carry flag is not included in rotation. Register (M000-M299)
Relay No. (word)
W#XXXX0
#XXXXX: Relay No., MXXX: Register Number, YYYY: Numerical Value (0-65535), N:
Numerical Value (1-2)
12-5
12.2 Instruction Description
Output to each single relay is only once. It is unable to use multiple times of output to the
NOTE same relay.
The numbers of the output relays are limited to 0XXXX, 3XXXX, 4XXXX, and 7XXXX.
It is able to register up to 260 TMR/CNT instructions and operation instructions that can
use registers.
It is unable to use the multiple times outputs of the registers that were used as current
values of TMR/CNT instructions. However, it is able to use the multiple times outputs of
the registers that were used as the destination registers of arithmetic instructions.
STR Instruction
Format
STR #XXXXX
#XXXXX: Relay No.
Function
Operates as a Normal Open at the beginning of logical line.
Stores temporarily the preliminary result of the logic operation.
Ladder Program Example
<Ladder Diagram> < Program>

STR #70010
OUT #70100
#70010 #70100
STR-NOT Instruction
Format
STR-NOT #XXXXX
#XXXXX: Relay No.
Function
Operates as a Normal Close at the beginning of logical line.
Stores temporarily the preliminary result of the logic operation.
12-6

STR-NOT #70010
OUT #70100
#70010 #70100
AND Instruction
Format
AND #XXXXX
#XXXXX: Relay No.
Function
Performs logical AND operation.

STR #70010
AND #70011
OUT #70100
#70010 #70011 #70100
AND-NOT Instruction
Format
AND-NOT #XXXXX
#XXXXX: Relay No.
Function
Performs logical AND negation operation.

STR #70010
AND-NOT #70011
OUT #70100
#70010 #70011 #70100
12-7
OR Instruction
Format
OR #XXXXX
#XXXXX: Relay No.
Function
Performs logical OR operation.

STR #70010
OR #70011
OUT #70100
#70010 #70100
#70011
OR-NOT Instruction
Format
OR-NOT #XXXXX
#XXXXX: Relay No.
Function
Performs logical OR negation operation.

STR #70010
OR-NOT #70011
OUT #70100
#70010 #70100
#70011
12-8
AND-STR Instruction
Format
AND-STR
Function
Performs logical AND operation with the preliminary results.

STR #70010
OR #70011
STR #70020
OR #70021
#70010 #70020 #70100 AND-STR
OUT #70100
#70011 #70021
OR-STR Instruction
Format
OR-STR
Function
Performs logical OR operation with the preliminary results.

STR #70010
AND #70011
STR #70020
AND #70021
#70010 #70011 #70100 OR-STR
OUT #70100
#70020 #70021
12-9
OUT Instruction
Format
OUT #XXXXX
#XXXXX: Relay No.
Function
Outputs to the internal or the external.
NOTE Two or more times output to the same relay cannot be used.

STR #70010
AND #70011
OUT #70100
#70010 #70011 #70100
PART Instruction
Format
PART N
N: Ladder Identification Number (1: System Ladder, 2: User Ladder)
Function
Identifies the system ladder from the user ladder.
NOTE This instruction is not displayed in the programming pendant screen.

PART 1
There is no symbol. STR #70010
System OUT #70100
:
PART 2
:
User
END
12-10
END Instruction
Format
END
Function
Ends the ladder program.
NOTE This instruction is not displayed in the programming pendant screen.

STR #70010
There is no symbol. OUT #70100
END
TMR Instruction
Format
TMR Curr Value, Set Value
Set Value: Register (M000-M499), Decimal (0-65535)
Curr Value: Register (M000-M259)
Set Value
Register
Decimal
(M000 - M499)
Curr Value
Mxxx 0 - 65535 0 - 65535
(M000 - M259) (0.0 - 6553.5sec) (0.0 - 6553.5sec)
Function
This instruction is an On Delay Timer to handle the subtraction formula and counter circuit by
binary value. The internal clock is 0.1 second.
While the start input is OFF, counting is not performed and Curr Value = Set value is
maintained. Additionally, the TMR contact is turned off.
Curr Value is decremented by 1 every 0.1 seconds as soon as the start input is turned on. The
TMR contact is turned on when the Curr Value equals to 0. This state is maintained while the
start input is at ON state.
Start Input Curr Value TMR Contact

OFF Set Value OFF
ON (Curr Value > 0 ) Decremented by 1 every 0.1 seconds OFF
ON (Curr Value = 0 ) 0 ON
ON OFF (Curr Value > 0 ) Return to Set Value OFF
ON OFF (Curr Value = 0 ) Return to Set Value ON OFF
12-11

The timer is reset when the NX100 power is turned on. Therefore, Curr Value becomes Set
Value by the reset function even if the NX100 power is turned on in the ON state of the timer
start input.
Two or more times output to the same relay cannot be used.

NOTE It is unable to use the multiple times outputs of the register used as a current value of the
TMR instruction and the CNT instruction.

STR #70010
TMR M010,100
100 OUT #70100
TMR
#70010 M010 #70100
ON
Input
(#70010) OFF
10.0 sec 10.0 sec
ON
Output
(#70100) OFF
CNT Instruction
Format
CNT Curr Value, Set Value
Set Value: Register (M000-M499), Decimal (0-65535)
Curr Value: Register (M000-M259)
Set Value
Register
Decimal
(M000 - M499)
Curr Value
Mxxx 0 - 65535 0 - 65535
(M000 - M259)
Function
Even if the counter input is turned to ON from OFF, counting is not performed and Curr Value
= Set Value is maintained while the reset input is ON. Additionally, the CNT contact is turned
OFF.
The Curr Value is decremented by 1 each time the counter input is turned to ON from OFF in
OFF state of the reset input. The TMR contact is turned on when the Curr Value becomes 0.
This state is maintained in OFF state of the reset signals.
12-12
Powering on the NX100 resets the counter. Consequently, the Curr Value remains as the Set
Value by the reset function even if the counter input is in the ON state when the NX100 power
is on.
Reset Input Curr Value CNT Contact

ON Set Value OFF
OFF (Curr Value > 0 ) Decremented by 1 each time the OFF
counter input turns from OFF ON
OFF (Curr Value = 0 ) 0 ON
OFF ON (Curr Value > 0 ) Return to Set Value OFF
OFF ON (Curr Value = 0 ) Return to Set Value ON OFF

The counter input is ignored once the counter is counted up. Start counting after turning the
counter input to OFF from ON. The reset input is given priority when the counter input and
reset input are turned on at the same time.
Two or more times output to the same relay cannot be used.

STR #70010 Counter Input

STR #7011 Reset Input
CNT M010, 3 CNT instruction
3 OUT #70100 Output
C
#70010 CNT
M010 #70100
#70011
ON
Reset Input
(#70011) OFF
ON
Counter Input
(#70010) OFF
Current Value 3 2 1 0 3 2 1 0
Set Value 3
M010 ON
Output
(#70100) OFF
12-13
GSTR Instruction / GOUT Instruction

Format
GSTR #XXXX0
GOUT #XXXX0
#XXXX0: Relay No. (byte)
Function
The GSTR instruction stores the relay number (8 bits).
The GOUT instruction outputs 8 bits data stored by the GSTR instruction to the relay number
(8 bits).
NOTE The GSTR instruction and the GOUT instruction should be pairs.
The output cannot be done to the same relay two or more times.

GSTR #20010
GOUT #00010
#20010
GRP
#00010
PLS Instruction
Format
PLS #XXXXX
#XXXXX: Relay No.
Function
The PLS instruction outputs one scanning pulse signal when specified signal is turned to ON
from OFF.
NOTE The output cannot be done to the same relay two or more times.

STR #70010
PLS
PLS #70100
#70010 #70100
12-14
ON
Input
(#70010) OFF
ON
Output
(#70100) OFF
1Scan
PLF Instruction
Format
PLF #XXXXX
#XXXXX: Relay No.
Function
The PLF instruction outputs one scanning pulse signal when specified signal is turned to OFF
from ON.
NOTE The output cannot be done to the same relay two or more times.

STR #70010
PLF #70100
PLF
#70010 #70100
ON
Input
(#70010) OFF
ON
Output
(#70100) OFF
1Scan
12-15
ADD Instruction
Format
ADD S1, S2, D
S1: Source 1 Register (M000-M499)

Decimal (0-65535)
Decimal (0-65535)
D: Destination Register (M000-M299)
Function
S1 and S2 (16 bits unsigned binary data) are added and the addition result is output to D
when the input signal is in ON state. As a result of calculation, the carry flag (#50640) and the
zero flag (#50641) of a specific output are changed. The error flag (#50642) is not used.
<Arithmetic Flag>
S1+S2 D Carry Flag Zero Flag Error Flag

0 0 0 1 Not Used(0)
1-65535 1-65535 0 0 Not Used(0)
65536 0(S1+S2-65536) 1 1 Not Used(0)
65536 or more S1+S2-65536 1 0 Not Used(0)
Unused flag is cleared.
NOTE It is unable to use the multiple times outputs of register used as a current value of the TMR
instruction and the CNT instruction.

STR #70010
M000 ADD M000, M001, M010
M001
#70010 ADD
M010
12-16
SUB Instruction
Format
SUB S1, S2, D

Decimal (0-65535)
Decimal (0-65535)
Function
S1 and S2 (16 bits unsigned binary data) are subtracted and the subtraction result is output to
D when input signal is in ON state. As a result of calculation, the carry flag (#50640) and the
zero flag (#50641) of a specific output are changed. The error flag (#50642) is not used.
<Arithmetic Flag>
S1-S2 D Carry Flag Zero Flag Error Flag

0 0 0 1 Not Used(0)
1-65535 1-65535 0 0 Not Used(0)
Negative Number S1-S2+65536 1 0 Not Used(0)
NOTE It is unable to use the multiple times outputs of register used as a current value of the TMR

STR #70010
M000 SUB M000, M001, M010
M001
#70010 SUB
M010
12-17
MUL Instruction
Format
MUL S1, S2, Dn

Decimal (0-65535)
Decimal (0-65535)
Dn+1(High), Dn(Low): Destination Register (M000-M299)
Function
S1 and S2 (16 bits unsigned binary data) are multiplied and the multiplication result is output
to D when the input signal is in ON state. The carry flag (#50640), the zero flag (#50641) , and
the error flag (#50642) are not used.
<Arithmetic Flag>
S1 x S2 Dn+1 Dn Carry Flag Zero Flag Error Flag

0 0 0 Not Used(0) Not Used(0 Not Used(0)
1-65535 0 1-65535 Not Used(0) Not Used(0 Not Used(0)
65536 or more High Word Low Word Not Used(0) Not Used(0 Not Used(0)

STR #70010
M000 MUL M000,M001,M010
M001 When results=65536:
#70010 MUL M011=1(0000000000000001 Binary Data)
M010 M010=0(0000000000000000 Binary Data)
12-18
DIV Instruction
Format
DIV S1, S2, D

Decimal (0-65535)
Decimal (0-65535)
D: Destination (Quotient) Register (M000-M299)
Function
S1 and S2 (16 bits unsigned binary data) are divided and the division result (Quotient) is output
to D when the input signal is in ON state. As a result of calculation, the error flag (#50642) of
a specific output is changed. The carry flag (#50640) and the zero flag (#50641) are not used.
<Arithmetic Flag>
S1 S2 D Carry Flag Zero Flag Error Flag

0-65535 Excepted for 0 Quotient Not Used(0) Not Used(0) 0
0-65535 0 No changes Not Used(0) Not Used(0) 1

STR #70010
M000 DIV M000, M001, M010
M001
#70010 DIV
M010
12-19
MOD Instruction
Format
MOD S1, S2, D

Decimal (0-65535)
Decimal (0-65535)
D: Destination (Residuum) Register (M000-M299)
Function
S1 and S2 (16 bits unsigned binary data) are divided and the division result (Residuum) is
output to D when the input signal is in ON state. As a result of calculation, the error flag
(#50642) of a specific output is changed. The carry flag (#50640) and the zero flag (#50641)
are not used.
<Arithmetic Flag>
S1 S2 D Carry Flag Zero Flag Error Flag

0-65535 Excepted for 0 Surplus Not Used(0) Not Used(0) 0
0-65535 0 No changes Not Used(0) Not Used(0) 1

STR #70010
M000
MOD M000,M001,M010
M001
#70010 MOD
M010
12-20
BIN Instruction
Format
BIN S, D
S: Source Register (M000-M499)

Relay (byte) #XXXX0
Relay (word) W#XXXX0
Relay (byte) #XXXX0
Function
S (BCD data) is converted to binary data and is output to D when the input signal is in ON
state. As a result of calculation, the carry flag (#50640) and the error flag (#50642) of a
specific output are changed. The zero flag (#50641) is not used.
<Arithmetic Flag>
S D Carry Flag Zero Flag Error Flag

BCD BIN 0/1 Not Used(0) 0
Excepted for BCD No Changes 0 Not Used(0) 1
The carry flag is set when the conversion result is the relay (byte) and the conversion data is
more than 256 (BCD). Unused flag is cleared.


STR #70010
BIN M000,M010
M000
BIN
#70010
M010
12-21
BCD Instruction
Format
BCD S, D

Relay (byte) #XXXX0
Relay (byte) #XXXX0
Function
S (binary data) is converted to BCD data and is output to D when the input signal is in ON
state. As a result of calculation, the carry flag (#50640) and the error flag (#50642) of a
specific output are changed. The zero flag (#50641) is not used.
<Arithmetic Flag>
S D Carry Flag Zero Flag Error Flag

9999 or less (binary data) BCD 0/1 Not Used(0) 0
10000 or more (binary data) No Changes 0 Not Used(0) 1
The carry flag is set when the conversion result is the relay (byte) and the conversion data is
more than 256 (BCD). Unused flag is cleared.


STR #70010
BCD M000,M010
M000
BCD
#70010
M010
12-22
MOV Instruction
Format
MOV S, D

Decimal (0-65535)
Relay (byte) #XXXX0
Relay (byte) #XXXX0
Function
S is output to D in ON state of the input signal. As a result of calculation, the carry flag
(#50640) of a specific output is changed. The zero flag (#50641) and the error flag (#50642)
are not used. The carry flag is set when the transmission result is the relay (byte) and the
transmission data is more than 256 (BCD).

NOTE It is unable to use the multiple outputs of the register used as a current position of the TMR

STR #70010
MOV M000, M010
M000
MOV
#70010
M010
12-23
WAND Instruction
Format
WAND S1, S2, D
S1: Source Register (M000-M499)

S2: Source Decimal (0-65535)
Relay (byte) #XXXX0
Relay (byte) #XXXX0
Function
Logical AND operation between S1 and S2 is performed and the result is output to D when the
input signal is in ON state. The logic operation is performed in each correspondence bit of S1
and S2.
DS1S2
S1 1100110011001100 Binary Data
S2 1010101010101010 Binary Data
D 1000100010001000 Binary Data


STR #70010
M000 WAND M000, M001, M010
M001
#70010 WAND
M010
12-24
WOR Instruction
Format
WOR S1, S2, D

Relay (byte) #XXXX0
Relay (byte) #XXXX0
Function
Logical OR operation between S1 and S2 is performed and the result is output to D when the
input signal is in ON state. The logic operation is performed in each correspondence bit of S1
and S2.
DS1S2
S1 1100110011001100 Binary Data
S2 1010101010101010 Binary Data
D 1110111011101110 Binary Data


STR #70010
M000 WOR M000, M001, M010
M001
#70010 WOR
M010
12-25
WXOR Instruction
Format
WXOR S1, S2, D

Relay (byte) #XXXX0
Relay (byte) #XXXX0
Function
Exclusive OR operation between S1 and S2 is performed and the result is output to D when
the input signal is in ON state. The logic operation is performed in each correspondence bit of
S1 and S2.
D(S1S2)(S1S2)
S1 1100110011001100 Binary Data
S2 1010101010101010 Binary Data
D 0110011001100110 Binary Data

NOTE It is unable to use the multiple times outputs of the register used as a current position of the

STR #70010
M000 WXOR M000, M001, M010
M001
#70010 WXOR
M010
12-26
WNOT Instruction
Format
WNOT S, D

Decimal (0-65535)
Relay (byte) #XXXX0
Relay (byte) #XXXX0
Function
Logical negation operation of S is performed and the result is output to D when the input
signal is in ON state. The logic operation is performed in each correspondence bit of S1 and
S2.
DS
S1 1100110011001100 Binary Data
D 0011001100110011 Binary Data


STR #70010
WNOT M000, M010
M000
WNOT
#70010
M010
12-27
SHL Instruction
Format
SHL S, n, D

Decimal (0-65535)
Relay (byte) #XXXX0
n: Shift count Decimal (0-16)
Relay (byte) #XXXX0
Function
16 bits data contents of S is shifted to the high bit direction (left) n times and the result is
output to D when the input signal is in ON state. 0 is shifted to the lowest bit (LSB) and the
highest bit (MSB) is shifted to the carry flag.
Carry Flag MSB LSB
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0
Shift n times

The operation is performed each scanning when the input signal is in ON state. For one
time operation, use the pulse output instruction (PLS, PLF) in the input circuit.

STR #70010
M000 SHL M000,1,M010
1
#70010 SHL When M000 = 1000100010001000
M010 (binary data), the result is as follows.
M010: 0001000100010000
Carry flag: 1
12-28
SHR Instruction
Format
SHR S, n, D

Decimal (0-65535)
Relay (byte) #XXXX0
Relay (byte) #XXXX0
Function
16 bits data contents of S is shifted to the low bit direction (right) n times and the result is
output to D when the input signal is in ON state. 0 is shifted to the highest bit (MSB) and the
lowest bit (LSB) is shifted to the carry flag.
MSB LSB Carry Flag
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0
0
Shif n times


STR #70010
M000 SHR M000, 1, M010
1
#70010 SHR When M000 = 1000100010001000
M010: 0100010001000100
Carry flag: 0
12-29
ROL Instruction
Format
ROL S, n, D

Decimal (0-65535)
Relay (byte) #XXXX0
Relay (byte) #XXXX0
Function
16 bits data contents of S is shifted to the high bit direction (left) n times and the result is
output to D when the input signal is in ON state. The highest bit (MSB) is shifted to the carry
flag and the lowest bit (LSB).
Carry Flag MSB LSB
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0
Shift n times


STR #70010
M000 ROL M000, 1, M010
1
#70010 ROL When M000 = 1000100010001000
M010: 0001000100010001
Carry flag: 1
12-30
ROR Instruction
Format
ROR S, n, D

Decimal (0-65535)
Relay (byte) #XXXX0
Relay (byte) #XXXX0
Function
16 bits data contents of S is shifted to the low bit direction (right) n times and the result is
output to D when the input signal is in ON state. The lowest bit (LSB) is shifted to the carry
flag and the highest bit (MSB).
MSB LSB Carry Flag
1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0
Shif n times


STR #70010
M000 ROL M000, 1, M010
1
#70010 ROR When M000 = 1000100010001000
M010: 0100010001000100
Carry flag: 0
12-31
12.3 Arithmetic Flag
12.3 Arithmetic Flag
Flag Type
The arithmetic flag is a signal to reflect calculation result in the operation of the following
steps. There are three types of flags. These flags are allocated to the following specific
outputs.
#50640: Carry Flag

#50641: Zero Flag
#50642: Error Flag
SUPPLE-
MENT
Refer to 11.1 List of Usable Instructions for the instructions which influence the flag.
Carry Flag
Case of ADD Instruction:
This flag is set when the place of digit is moved to the left as a result of the operation.
Case of SUB Instruction:
This flag is set when the result is negative.
Zero Flag
Case of ADD or SUB Instruction:
This flag is set when the result is 0.
Error Flag
This flag is set when the error occurs. The instruction is not executed.
Flag Transition under Scanning

The flag is cleared before ladder program processing of every scanning.
When the processing of the instruction which influences the flag starts, the flag is set by
the operation result when the execution condition of the instruction consists. The flag is
cleared when the execution condition of the instruction is a failure.
The state of the flag does not change regardless of execution or non-execution in the pro-
cessing of the instruction which does not influence the flag.
12-32
12.4 Arc Welding
12.4 Arc Welding
Ladder Program List
NOTE System ladder section differs according to the version. Check the version of the software
used for the NX100.
System Ladder Section
These system ladders are for the software versions before NS3.97.00A ( ) -00.
NOTE See page 12-40 for the system ladders if the software version is NS3.97.00A ( ) -00 or
later.
Standard ladders are prepared for each application prior to shipment. Ladder programs
cannot be edited.
12-33
12.4 Arc Welding
( ) GAS SHORTAGE
#21270 #50780 #50782 #70067 #70042
( ) WIRE SHORTAGE
#21271 #50780 #50781 #70067 #70043
( ) ARC SHORTAGE
#21272 #70067 #70041
#70154
( ) ARC OCCURRENCE CHECK
#21273 #70040
( ) WIRE STICKING DETECTION
#21274 #70044
( ) REMOTE SELECT
#80011 #70025
#70026
( ) IO PROHIBIT
#70025 #82014 #40057
#70025
( ) CMD REMOTE SELECT
#70025 #82015 #40042
( ) PP.PANEL OPERATION
#70025 #82016 #40056 PROHIBIT
( ) SEQUENCE WAIT REQUEST
#70030 #70034 #50080 #50063 #70022
#70031 #50081
#70032 #70036 #50082
#70033 #50083
( ) WAITING UNTIL
#50080 #70022 #70021 INTERFERENCE IS OFF
#50081
#50082
#50083
#70021 #50076 #50070

( ) IN CUBE 1
#50080 #70021 #70034
( ) IN CUBE 2
#50081 #70021 #70035
( ) IN CUBE 3
#50082 #70021 #70036
( ) IN CUBE 4
#50083 #70021 #70037
( ) ALARM OCCURRENCE
#50010 #70020
#50011
#50012
#50013
( ) START RECEIVING
#50054 #50073 #50014 #70020 #70011 PREPARATION OK
( ) EXTERNAL START
#70010 #50073 #40044
( ) CONTROL POWER ON
#70017 #70017 COMPLETED
(NORMALITY ON)
#70017
12-34
12.4 Arc Welding
( ) SYSTEM RESERVED
#70016 #70016
( ) SYSTEM RESERVED
#70016 CNT #70015
250
M219
#70015
( ) OPERATION
#50070 #50220 #50073 #70020 #70125 CONTINUING
#70125
( ) MOTOR STOP
#70060 #70061 #70066 #70047 MEMORY
#70047 #70050
( ) MOTOR DIRECTION
#70047 TMR #70050 CHANGE PERMIT
M464
M254
MOTOR DIRECTION
( )
CHANGE PROHIBIT
#70047 #70050 #70051
( ) MOTOR FORWARD
#70060 #70061 ROTATION MEMORY
#70052
#70066
#70052
MOTOR REVERSE
( )
ROTATION MEMORY
#70061 #70060 #70066 #70053
#70053
MOTOR FORWAD
( )
ROTATION PERMIT
#70053 #70054
#70051
MOTOR REVERSE
( )
ROTATION PERMIT
#70052 #70055
#70051
( ) WIRE INCHING REQUEST
TMR
#11286 1 #50053 #50070 #70056
M214
#11286 #50070
#50775
TMR
#11287 1 #50053 #50070 ( ) WIRE RETRACT REQUEST
M213
#70057
#11287
#50070
#50776
( ) WIRE INCHING
#70062 #70056 #70057 #70054 #70060
#50070
( ) WIRE RETRACT
#70062 #70056 #70057 #70055 #70061
#50070
( ) ARC SHORTAGE
#70041 #70066 #70094 #50264 #50260 #50780 #70105 #70086 (DURING ARC ON)
#70086
( ) ARC ON INTERVAL
#50770 #70090 #50771 #50220 #70071 #70067 #50270 #70062
#40577 #70096
#70062
( ) ARC ON CONTINUING
#70062 #50772 #50070 #70071 PROHIBIT
( ) AUTOMATIC WIRE
#50771 #70072 #70081 #70080 #70125 #70084 STICKING RELEASING
#70084
( ) AUTOMATIC WIRE
#70075 #70084 #70085 #50771 #40577 STICKING RELEASE REQUEST
#40577
( ) WORK END RESPONSE
#70081 #50771 #40571
#70072
12-35
12.4 Arc Welding
( ) ARC OCCURRENCE
#50050 #70062 #70086 #70124 #70021 #70064 CONDITION CYCLE
#70064
( ) ARC OCCURRENCE
#50053 #50064 #70046 #50264 #50260 #70065 CONDITION MODE
ARC OCCURRENCE
( )
CONDITION MODE OK
#70064 #70065 #70054 #70066
( ) WORK TIME MEASURE
#70066 #40572
WIRE STICKING CHECK COMPLETED
( )
AT ARCRESPONSE ERROR
#70067 #70083 #70087
ARC RESPONSE ERROR
( )
(FINAL)
#70095 #70087 #50070 #70090
#70096
#70090
( ) ARC OCCURRECNE
#70040 #70066 #70070
#70045
#70070
( ) ARC OCCURRECNE
#70040 #70066 #70155 (STATUS)
#70045
( ) RETRY PROCESSING
#50770 #70090 #70093 #70125 #70094
#70094
( ) RETRY REQUEST
#70087 #70094 #70095 #50770 #40575
#40575
( ) RETRY REQUEST MEMORY
#40575 #70093 #70092
#70092
( ) RETRY TEST COMPLETED
#70066 #70062 #70093
#70090
#70070
( ) RETRY RETURN REQUEST
#70092 #70093 #50777 #50787 #40576
#40576
( ) WORK START RESPONSE
#70066 #70062 #50770 #40570
#40575
#40576
#70070
#40570
( ) ARC RETRY PROCESSING
#70094 #70096
#70092
#40576
#50777
( ) ARC RESPONSE ERROR OUTPUT
#70096 #70090 #70091
( ) ARC RESPONSE ERROR
#70070 #70066 TMR #50783 #70067 (SUB)
M460
M250
#50770 #70067 #50070
#70096
( ) ARC OCCURRENCE MEMORY
#70072 #70083 #70072
#70066
12-36
12.4 Arc Welding
( ) ARC STICKING CHECK

#70072 #70066 #70073 REQUEST
#70067
( ) ARC MISSING
#70073 #70062 #70063
#70063 #40014 #50053

( ) AUTOMATIC WIRE STICKING
#70066 CNT #70085 RELEASE COUNT UP
M467
M257
#70084
#70066 #70044 #70074 (AT OFF/ERROR)
#70067
( ) RETRY COUNT UP
#40575 CNT #70095
M465
M255
#70094
( ) SYSTEM SECTION
#70091 #40130 ALARM CODE d0
#70111
( ) SYSTEM SECTION
#70105 #70091 #40131 ALARM CODE d1
( ) SYSTEM SECTION
#70110 #70091 #70105 #40132 ALARM CODE d2
#70111
( ) SYSTEM SECTION
#70153 #40133 ALARM CODE d3
( ) SYSTEM SECTION
#70091 #40010 ALARM REQUEST
#70105
#70110
#70111
#70153
( ) RESTART MESSAGE
#70106 #70115 INVALID
#70107
#70080
( ) SYSTEM SECTION
#70100 #50782 #50780 #70115 #40150 MESSAGE CODE d0
#50781
#70107 #70106
#70080
( ) SYSTEM SECTION
#50782 #50781 #50780 #70115 #40151 MESSAGE CODE d1
#70100
#70106 #70080
#70107
( ) SYSTEM SECTION
#70115 #40152 MESSAGE CODE d2
( ) SYSTEM SECTION
( ) SYSTEME SECTION
#70115 #40011 MESSAGE REQUEST
#50780
#50781
#50782
#70100
#70156
12-37
12.4 Arc Welding
( ) WIRE STICKING
#70074 #70082 TMR #70075 (AT OFF)
M461
M251
( ) WIRE STICKING
#50053 #50220 #70074 #70084 #70076 (AT ON)
( ) WIRE STICKING
#70076 #70074 #70077 (AT ON/OFF)
#70075
#70077
( ) WIRE STICKING
#70077 #70085 #70074 #70080 (FINAL)
#70076
#70080
( ) NO WIRE STICKING
#70074 #70082 TMR #70081
M462
M252
( ) WIRE STICKING CHECK

#70073 TMR #70082
M463
M253

#70075 #70073 #70083 COMPLETED
#70081
( ) SEQUENCE WAIT
#70082 #50070 #40090
#70066 #70155 #70124 #70103
#70077 #70096 #40090
#70067
#70022
( ) EXTERNAL HOLD
#70080 #40067
( ) ARC SHORTAGE ALARM
#70117 #50780 #70086 #50070 #70105 CONDITION
#50783 #70097
#70104
#50781
#50782
#70105
ARC SHORTAGE ALARM
( )
CONDITION WAITING 2
#70116 #70117
ARC SHORTAGE ALARM
( )
CONDITION WAITING 1
#70152 #70116
ARC SHORTAGE REQUEST
( )
DELAY TIME 30ms
#70151 #70152
( )
DELAY TIME 20ms
#70150 #70151
( )
DELAY TIME 10ms
#40580 #70150
GAS SHORTAGE MESSAGE
( )
CONDITION
#70121 #50781 #70042 #70106
#50783 #70097
#70104
#70106
( )
CONDITION WAITING 2
#70120 #70121
( )
CONDITION WAITING 1
#40581 #70120
12-38
12.4 Arc Welding
( ) WIRE SHORTAGE MESSAGE

#70123 #50782 #70043 #70107 CONDITION
#50783 #70097
#70104
#70107
#70122 #70123 CONDITION WAITING 2

( ) GAS SHORTAGE ALARM

#50781 #70102 #70110 CONDITION
#70042 #50070
#70110
WIRE SHORTAGE ALARM
( )
CONDITION
#50782 #70102 #70043 #50070 #70111
#70111
( ) RESTART
#50780 #70103
#50781
#50782
( ) RESTART REQUEST
#70086 #70104 #70105 #70103 #40580 (ARC SHORTAGE)
#40580
( ) RESTART REQUEST
#70042 #70086 #70104 #70106 #70103 #40581 (GAS SHORTAGE)
#40581
( ) RESTART REQUEST
#70043 #70086 #70042 #70104 #70107 #70103 #40582 (WIRE SHORTAGE)
#40582
( ) ARC SHORTAGE
#40580 #50783 #40583 #70105 #70101 #70100 RESTART MEMORY
#70100 #50780
ARC SHORTAGE RESTART
( )
ARC STOP
#70117 #50783 #50780 #70124
#70124
RESTART
( )
RETURN MEMORY
#50783 #70103 #70097
#70097
( ) RESTART MEMORY
#70103 #70097 #40583 #70110 #70111 #70102
( ) RESTART INVALID
#70103 CNT #70104
M466
M256
#70062
#70096
( ) ARC AND RELAY STICKING
#50054 #70066 #50771 #70073 #70045 #70040 #70157 CONFIRM AUXILIARY
TMR
( ) ARC CONFIRM RELAY STICKING
#70157 30 #70156
M210
( ) ARC SHORTAGE
#70070 #70040 #70094 #70103 TMR #50070 #70045 #70066 #70154 (ROBOT SIDE)
10
M211
#70154
( ) WELDING POWER
TMR ERROR
#70066 #21272 10 #70153
M212
( ) SYSTEM RESERVED
#31270 #31270
( ) ARC ON
#70066 #31271
( ) WIRE INCHING
#70060 #31272
( ) WIRE RETRACT
#70061 #31273
( ) SEARCH INSTRUCTION
#50270 #50070 #31275
12-39
12.4 Arc Welding
System Ladder Section (Software version: NS3.97.00A ( ) -00 or later)

( ) GAS SHORTAGE
#21270 #50780 #50782 #70067 #70042
G SHORT A RESTART W RESTART A RESPERR SUB G SHORT
( ) WIRE SHORTAGE
#21271 #50780 #50781 #70067 #70043
W SHORT A RESTART G RESTART A RESPERR SUB W SHORT
( ) ARC SHORTAGE
#21272 #70067 #70041
A SHORT A RESPERR SUB A SHORT
#70154
ARC SHORT (RB)
( ) ARC OCCURRENCE CHECK

#21273 #70040
ARC OCCR CHK A OCCR CK
#21274 #70044
W STICK DETCT W STICK DETECT
( ) REMOTE SELECT
#80011 #70025
REMOTE REM SLCT
( ) IO PROHIBIT
#70025 #82014 #40057
REM SLCT REM IO PROH IO PROH
#70025
REM SLCT
( ) CMD REMOTE SELECT

#70025 #82015 #40042
REM SLCT REM CMD C REM SLCT
( ) PP.PANEL OPERATION
#70025 #82016 #40056 PROHIBIT
REM SLCT REM PB PROH PP PNL PROH
( ) SEQUENCE WAIT REQUEST

#70030 #70034 #50080 #50063 #70022
INTER1 ENT PROH INCUBE1 INTER1 LMT SET RLS S-W REQ A
#70031 #50081
INTER2 ENT PROH INTER2
#70032 #70036 #50082

INTER3 ENT PROH INCUBE3 INTER3
#70033 #50083
INTER4 ENT PROH INTER4
( ) WAITING UNTIL
INTER1 S-W REQ A WAIT INTER OFF
#50081
INTER2
#50082
INTER3
#50083
INTER4
#70021 #50076 #50070

WAIT INTER OFF JOG OPR INDI RUNNING
( ) IN CUBE 1
#50080 #70021 #70034
INTER1 WAIT INTER OFF INCUBE1
( ) IN CUBE 2
#50081 #70021 #70035
( ) IN CUBE 3
#50082 #70021 #70036
( ) IN CUBE 4
#50083 #70021 #70037
#50010 #70020
MAJ ALM OCCR ALM OCCR
#50011
MIN ALM OCCR
#50012
S ALM OCCR
#50013
U ALM OCCR
12-40
12.4 Arc Welding
( ) START RECEIVING
#50054 #50073 #50014 #70020 #70011 PREPARATION OK
PLAY MODE SET SV ON ERROR ALM OCCR STARTOK
( ) EXTERNAL START
#70010 #50073 #40044
EX START SV ON EX START
( )CONTROL POWER ON
#70017 #70017 COMPLETED
POWER ON POWER ON (NORMALITY ON)
#70017
POWER ON
( ) SYSTEM RESERVED
#70016 #70016
SYS RSVD SYS RSVD
( ) SYSTEM RESERVED
#70016 CNT #70015
SYS RSVD 250
SYS RSVD
M219
#70015 SYS RSVD
SYS RSVD
( ) OPERATION
#50070 #50220 #50073 #70020 #70125 CONTINUING
RUNNING S CONT SV ON ALM OCCR OPR CONT
JOB A
#70125
OPR CONT
( ) MOTOR STOP
#70060 #70061 #70066 #70047 MEMORY
INCHING RETRACT A OCCR COND OK MOT STOP MEM
#70047 #70050
MOT STOP MEM MOT DRCTN CHG PMT
( ) MOTOR DIRECTION
TMR #70050 CHANGE PERMIT
#70047 M464
MOT STOP MEM 0.5 sec MOT DRCTN CHG PMT
M254
WIRE OPR
SW VAL
MOTOR DIRECTION
( )
CHANGE PROHIBIT
#70047 #70050 #70051
MOT STOP MEM MOT DRCTN CHG PMT MOT DRCTN CHG PROH
( ) MOTOR FORWARD
#70060 #70061 ROTATION MEMORY
#70052
INCHING RETRACT MOT FWD ROT MEM
#70066
A OCCR COND OK
#70052
MOT FWD ROT MEM
MOTOR REVERSE
( )
ROTATION MEMORY
#70061 #70060 #70066 #70053
RETRACT INCHING A OCCR COND OK MOT REV ROT MEM
#70053
MOT REV ROT MEM
MOTOR FORWAD
( )
ROTATION PERMIT
#70053 #70054
MOT REV ROT MEM MOT FWD ROT PMT
#70051
MOT DRCTN CHG PROH
( ) MOTOR REVERSE
ROTATION PERMIT
#70052 #70055
MOT FWD ROT MEM MOT REV ROT PMT
#70051
MOT DRCTN CHG PROH
( ) WIRE INCHING REQUEST

#11286 TMR #50053 #50070 #70056
INCHING 1 TEACH MODE RUNNING INCH REQ
SET
M214
W INCH REQ
#11286 #50070
INCHING RUNNING
#50775
INCHING
12-41
12.4 Arc Welding
( ) WIRE RETRACT REQUEST

#11287 TMR #50053 #50070 #70057
RETRACT 1 TEACH MODE RUNNING RETRACT REQ
SET
M213
W RETRCT REQ
#11287 #50070
RETRACT RUNNING
#50776
RETRACT
( ) WIRE INCHING
#70062 #70056 #70057 #70054 #70060
ARCON INTERVAL INCHING REQ RETRACT REQ MOT FWD ROT PMT INCHING
#50070
RUNNING
( ) WIRE RETRACT
#70062 #70056 #70057 #70055 #70061
ARCON INTERVAL INCHING REQ RETRACT REQ MOT REV ROT PMT RETRACT
#50070
RUNNING
( ) ARC SHORTAGE
#70041 #70066 #70094 #50264 #50260 #50780 #70105 #70126 #70086 (DURING ARC ON)
ARC SHRTG A OCCR COND OK RETRY WORK PMT WORK RESTART A RESTART A ALM COND A RESTA REQ A SHRTG AT ARCON
PROCESSING RUN A PROH A
#70086
A SHRTG AT ARCON
( ) ARC ON INTERVAL
#50770 #70090 #50771 #50220 #70071 #70067 #50270 #70062
START WORK ARC RESPERR END WORK S CONT ARCON CONT A RESPERR SERCHING A ARCON INTERVAL
FIN JOB A PROH SUB
#40577 #70096
ANTI STICK REQ RETRYING
#70062
ARCON INTERVAL
( )ARC ON CONTINUING
#70062 #50772 #50070 #70071 PROHIBIT
ARCON INTERVAL PROH WORK CONT RUNNING ARCON CONT PROH
( ) AUTOMATIC WIRE
#50771 #70072 #70081 #70080 #70125 #70084 STICKING RELEASING
END WORK ARC OCCR MEM NO STICK STICKING (FIN) OPR CONT AUTO STICK RLS
#70084
AUTO STICK RLS
( ) AUTOMATIC WIRE
STICKING RELEASE REQUEST
#70075 #70084 #70085 #50771 #40577
STICKING AT OFF AUTO AUTO STICK END WORK ANTI STICK REQ
STICK RLS RLS CONT
#40577
ANTI STICK REQ

#70081 #50771 #40571
NO STICK END WORK WORK END RESP
#70072
ARC OCCR MEM
#70133
( ) ARC OCCURRENCE
#50050 #70062 #70041 #70124 #70021 #70064 CONDITION CYCLE
STEP CY SET ARCON ARC SHRTG A STOP WAIT INTER OFF ARC OCCR COND CY
INTERVAL AT RESTA
#70064 #70094
ARC OCCR COND CY RETRY PROCESSING
TEST RUN
( ) ARC ON SELECT
#50065 #50053 #50352 #70130 (MANAGEMENT)
APL KEY TEACH MODE SET MANAG MODE TEST RUN
(MANAG) TEST RUN
( ) ARC ON SELECT
#50065 #50053 #50352 #70131 (OPERATION & EDIT)
APL KEY TEACH MODE SET MANAG MODE TEST RUN
ARCON SEL (OP.& EDT)
( ) ARC OCCURRENCE
#50053 #50064 #70046 #50264 #50260 #70065 CONDITION MODE
TEACH MODE CK RUN ARC OCCR WORK PMT WORK RESTART PROH A OCCR COND MODE
SET TEST PROH RUN A
#70130
TEST RUN(MANAG)
12-42
12.4 Arc Welding
( ) ARC OCCURRENCE
#70040 #70064 #70065 #70054 #70066 CONDITION MODE OK
ARC OCCR ARC OCCR A OCCR MOT FWD ROT PMT A OCCR COND OK
CK COND CY COND MODE
#70066
A OCCR COND OK
#70066 #40572
A OCCR COND OK TIME MEASURE
( ) WIRE STICKING CHECK COMPLETED

#70067 #70083 #70087 AT ARCRESPONSE ERROR
A RESPERR STICKING STICK CKD AT ERR
SUB CKD ARC RESPONSE ERROR
( )
(FINAL)
#70095 #70087 #50070 #70090
RETRY COUNT STICK CKD RUNNING A RESPERR FIN
AT ERR
#70096
RETRYING
#70090
A RESPERR FIN
( ) ARC OCCURRECNE
#70040 #70066 #70070
ARC OCCR A OCCR COND OK ARC OCCR
CK
#70045
PSEUD ARCON
#70070
ARC OCCR
( ) ARC OCCURRECNE
#70040 #70066 #70155 (STATUS)
ARC OCCR CK A OCCR COND OK ARC OCCR (STAT)
#70045
PSEUD ARCON
( ) RETRY PROCESSING
#50770 #70090 #70093 #70125 #70094
START WORK A RESPERR RETRY OPR CONT RETRY PROCESSING
FIN TESTED
#70094
RETRY PROCESSING
( ) RETRY REQUEST
#70087 #70094 #70095 #50770 #40575
STICK CKD RETRY RETRY START WORK RETRY REQ
AT ERR PROCESSING COUNT
#40575
RETRY REQ
( ) RETRY REQUEST MEMORY
#40575 #70093 #70092
RETRY REQ RETRY TESTED RETRY REQ MEM
#70092
RETRY REQ MEM
( ) RETRY TEST COMPLETED

#70066 #70062 #70093
A OCCR ARCON RETRY TESTED
COND OK INTERVAL
#70090
A RESPERR FIN
#70070
ARC OCCR
( ) RETRY RETURN REQUEST
#70092 #70093 #50777 #50787 #40576
RETRY REQ RETRY RETRY RET REP RETRY RET REQ
MEM TESTED RTRN
#40576
RETRY RET REQ
#70066 #70062 #50770 #40570
A OCCR ARCON START WORK WORK START RESP
COND OK INTERVAL
#40575
RETRY REQ
#40576
RETRY RET REQ
#70070
ARC OCCR
#40570
WORK START RESP
12-43
12.4 Arc Welding
( ) ARC RETRY PROCESSING

#70094 #70096
RETRY RETRYING
PROCESSING
#70092
RETRY REQ MEM
#40576
RETRY RET REQ
#50777
RETRY RTRN
( ) ARC RESPONSE ERROR OUTPUT

#70096 #70090 #70091
RETRYING A RESPERR FIN A RESPERR OUT
( ) ARC RESPONSE ERROR

#70070 #70066 TMR #50783 #70067 (SUB)
M460
ARC OCCR A OCCR COND OK 3.0 sec RTRN RESTART A RESPERR SUB
M250
TMR COOL
#50770 #70067 #50070 ERR VAL
START WORK A RESERR RUNNING
SUB
#70096
RETRYING
( ) ARC OCCURRENCE MEMORY

#70072 #70083 #70072
ARC OCCR STICKING CKD ARC OCCR MEM
MEM
#70066
A OCCR COND OK
( ) ARC STICKING CHECK

REQUEST
#70072 #70066 #70073
ARC OCCR A OCCR STICK CK REQ
MEM COND OK
#70067
A RESERR SUB
( ) ARC MISSING
#70073 #70062 #70063
STICK CK REQ ARCON INTERVAL ARC STOP
#70063 #40014 #50053

ARC STOP A/E RESET TEACH MODE SET
#70073 M467
3 TIMS
STICK CK REQ 1
SUB
M215
STIK RELEASE
( ) MOVE STICKING CHECK
#50640 #70132
ARITH CARRY FLAG MOV STICK CHK
( ) MOVE STICKING
#70132 #70082 #70133 CHECKING
MOV STICK CHK STICK CK MOV STICK CHK NOW
#70133
MOV STICK CHK NOW
( ) MOVE STICKING
CHECK PROHIBIT
#70132 #70073 #70134
MOV STICK CHK STICK CK REQ MOV STICK CHK PROHIB
#70134
MOV STICK CHK PROHIB
( ) AUTOMATIC WIRE STICKING
#70066 CNT #70085 RELEASE COUNT UP
M467 AUTO STICK RLS CONT
A OCCR
COND OK 3 TIMES
M257
#70084 STICK RLS VAL
AUTO STICK RLS
#70066 #70044 #70074 (AT OFF/ERROR)
A OCCR STICK DETECT STKDTCT OFF/ERR
COND OK
#70067
A RESERR SUB
( ) RETRY COUNT UP
#40575 CNT #70095
RETRY REQ M465 RETRY COUNT
1 TIME
M255
#70094 RETRY VAL
RETRY
PROCESSING
12-44
12.4 Arc Welding
( ) SYSTEM SECTION
#70091 #40130 ALARM CODE d0
A RESPERR S ALM d0
OUT
#70111
W SHRTG ALM COND
( ) SYSTEM SECTION
ALARM CODE d1
#70105 #70091 #40131
A ALM COND A RESPERR OUT S ALM d1
( ) SYSTEM SECTION
ALARM CODE d2
#70110 #70091 #70105 #40132
G SHRTG A RESPERR A ALM COND S ALM d2
ALM COND OUT
#70111
W SHRTG ALM COND
( ) SYSTEM SECTION
ALARM CODE d3
#70153 #40133
WELD POW ERR S ALM d3
( ) SYSTEM SECTION
A RESPERR S ALM REQ
OUT
#70105
A ALM COND
#70110
G SHRTG
ALM COND
#70111
W SHRTG
ALM COND
#70153
WELD POW ERR
( ) RESTART MESSAGE
#70106 #70115 INVALID
G SHRTG RESTA MS INVLD
MSG COND
#70107
W SHRTG
MSG COND
#70080
STICKING (FIN)
( ) SYSTEM SECTION
#70100 #50782 #50780 #70131 #70115 #40150 MESSAGE CODE d0
A RESTART W RESTART A RESTART TEST RUN RESTA MS S MSG d0
MEM ARCON SEL INVLD
(OP.& EDT)
#50781
G RESTART
#70107 #70131 #70106

W SHRTG TEST RUN G SHRTG MSG COND
MSG COND ARCON SEL
(OP.& EDT)
#70080
STICKING (FIN)
#70130 TEST RUN

ARCON SEL
(MANAG)
( ) SYSTEM SECTION
#50782 #50781 #50780 #70115 #70130 #40151 MESSAGE CODE d1
W RESTART G RESTART A RESTART RESTA MS A RESTART S MSG d1
INVLD
#70100
A RESTART MEM
#70106 #70080 #70130

G SHRTG STICKING TEST RUN
MSG COND (FIN) ARCON SEL
(MANAG)
#70107
W SHRTG
MSG COND
#70131 #70080
TEST RUN STICKING (FIN)
ARCON SEL
(OP.& EDT) SYSTEM SECTION
( )
#70115 TEST RUN TEST RUN
#40152
RESTA MS ARCON SEL ARCON SEL S MSG d2
INVLD (MANAG) (OP.& EDT)
( ) SYSTEM SECTION
#70156 #70080 #40153 MESSAGE CODE d3
ARC CONF STICKING (FIN) S MSG d3
RELAY STICK
#70130
TEST RUN
ARCON SEL
(MANAG)
#70131
TEST RUN
ARCON SEL
(OP.& EDT)
12-45
12.4 Arc Welding
( ) SYSTEME SECTION
#70115 #40011 MESSAGE REQUEST
RESTA MS S MSG REQ
INVLD
#50780
A RESTART
#50781
G RESTART
#50782
W RESTART
#70100
A RESTART
MEM
#70156
ARC CONF
RLY STICK
#70130
TEST RUN
ARCON SEL
(MANAG)
#70131
TEST RUN
ARCON SEL
(OP.& EDT)
( ) PP BUZZER
#70130 #40337
TEST RUN PP BUZZ
ARCON SEL
(MANAG)
#70131
TEST RUN
ARCON SEL
(OP.& EDT) WIRE STICKING
( )
#70074 #70082 TMR #70075 (AT OFF)
STKDTCT STICK CK M461 STICKING AT OFF
OFF/ERR 1.0sec
M251
STICK CK
( ) STICKING
TMR (MOVE CHECK)
#70074 #70133 M461 #70137
STKDTCT MOV STICK STICK (MOV CHK)
OFF/ERR CHK 1.0 sec
M259
MOV STICK CHK
( ) WIRE STICKING
#50053 #50220 #70074 #70084 #70076 (AT ON)
TEACH MODE S CONT STKDTCT AUTO STICK RLS STICK AT ON
SET JOB A OFF/ERR
( ) WIRE STICKING
#70076 #70074 #70077 (AT ON/OFF)
STICK AT ON STKDTCT STICK AT ON/OFF
OFF/ERR
#70075
STICKING
AT OFF
#70077
STICK AT
ON/OFF
#70137
( ) WIRE STICKING
#70077 #70085 #70074 #70080 (FINAL)
STICK AT AUTO STICK STKDTCT STICKING (FIN)
ON/OFF RLS CONT OFF/ERR
#70076
STICK AT ON
#70080
STICKING (FIN)
( ) NO WIRE STICKING
#70074 #70082 TMR #70081
STKDTCT STICK CK M462 NO STICK
OFF/ERR 0.2 sec
M252
NO STICK CK
NO STICKING
( ) (MOVE CHECK)
#70074 #70133 TMR #70135
STKDTCT MOV STICK M462 NO STICK (MOV CHK)
OFF/ERR CHK 0.2 sec
M258
NO MOV STICK CHK

STICKING DETECTION
( ) AT MOVING
#70074 #70133 #70136 (MOVE CHECK)
STKDTCT MOV STICK STICK DTCT MOV
OFF/ERR CHK
12-46
12.4 Arc Welding

#70073 TMR #70082
M463 STICK CK
STICK CK REQ 0.3 sec
M253
ANTI STICK

#70075 #70134 #70083 COMPLETED
STICKING MOV STICK STICKING CKD
AT OFF CHK
#70081 #70133
NO STICK MOV STICK
CHK
#70135
NO STICK
(MOV CHK)
#70137
STICK
(MOV CHK)
( ) SEQUENCE WAIT
#70134 #50070 #40090
MOV STICK RUNNING S-WAIT A
CHK
#70136
STICK DTCT
(MOV CHK)
#70066 #70155 #70124 #70103

A OCCR A OCCR A STOP RESTARTING
COND OK (STAT) AT RESTA
#70126
A RESTA REQ
#70077 #70096 #40090

STICK AT RETRYING S-WAIT A
ON/OFF
#70067
A RESERR
SUB
#70022
S-W REQ A
( ) EXTERNAL HOLD
#70080 #40067
STICKING (FIN) EX HOLD
( ) ARC SHORTAGE ALARM

#70117 #50780 #70086 #50070 #70105 CONDITION
A ALM W2 A RESTART A SHRTG RUNNING A ALM COND
AT ARCON
#50783 #70097
RTRN RESTART RESTA
RTRN MEM
#70104
RESTA INVLD
#50781
G RESTART
#50782
W RESTART
#70105
A ALM COND
ARC SHORTAGE ALARM
( )
CONDITION WAITING 2
#70116 #70117
A ALM W2 A ALM W2
ARC SHORTAGE ALARM
( )
CONDITION WAITING 1
#70152 #70116
A SHORT REQ DLY30 A ALM W1
( )
DELAY TIME 30 ms
#70151 #70152
A SHORT REQ DLY20 A SHORT REQ DLY30
( ) ARC SHORTAGE REQUEST

DELAY TIME 20 ms
#70150 #70151
A SHORT REQ DLY10 A SHORT REQ DLY20
( ) ARC SHORTAGE REQUEST

DELAY TIME 10 ms
#40580 #70150
A RESTA REQ A SHORT REQ DLY10
( ) GAS SHORTAGE MESSAGE

#70121 #50781 #70042 #70106 CONDITION
G MSG W2 G RESTART G SHORT G SHRTG MSG COND
#50783 #70097
RTRN RESTART RESTA
RTRN MEM
#70104
RESTA INVLD
#70106
G SHRTG MSG COND
12-47
12.4 Arc Welding

( ) CONDITION WAITING 2
#70120 #70121
G MSG W1 G MSG W2
( ) GAS SHORTAGE MESSAGE

CONDITION WAITING 1
#40581 #70120
G RESTA REQ G MSG W1

#70123 #50782 #70043 #70107 CONDITION
W MSG W2 W RESTART W SHORT W SHRTG MSG COND
#50783 #70097
RTRN RESTART RESTA
RTRN MEM
#70104
RESTA INVLD
#70107
W SHRTG
MSG COND
W MSG W1 W MSG W2

W RESTA REQ W MSG W1
( ) GAS SHORTAGE ALARM
#50781 #70102 #70110 CONDITION
#70042 #50070
G RESTART RESTART G SHORT RUNNING G SHRTG ALM COND
MEM
#70110
G SHRTG ALM COND
WIRE SHORTAGE ALARM
( )
CONDITION
#50782 #70102 #70043 #50070 #70111
W RESTART RESTART W SHORT RUNNING W SHRTG ALM COND
MEM
#70111
W SHRTG ALM COND
( ) RESTART
#50780 #70103
A RESTART RESTARTING
#50781
G RESTART
#50782
W RESTART
( ) ARC RESTART
#70086 #70104 #70105 #70103 #70126 REQUEST CONDITION
A SHRTG RESTA A ALM COND RESTARTING A RESTA REQ
AT ARCON INVLD
#40580
A RESTA REQ
( ) RESTART REQUEST
#70126 #70041 #40580 (ARC SHORTAGE)
A RESTA REQ ARC SHRTG A RESTA REQ
( ) RESTART REQUEST
(GAS SHORTAGE)
#70042 #70086 #70104 #70106 #70103 #40581
G SHORT A SHRTG RESTA G SHRTG RESTARTING G RESTA REQ
AT ARCON INVLD MSG COND
#40581
G RESTA REQ
( ) RESTART REQUEST
#70043 #40582 (WIRE SHORTAGE)
#70086 #70042 #70104 #70107 #70103
W SHORT A SHRTG G SHORT RESTA W SHRTG RESTARTING W RESTA REQ
AT ARCON INVLD MSG COND
#40582
W RESTA REQ
( ) ARC SHORTAGE
#40580 #50783 #40583 #70105 #70101 #70100 RESTART MEMORY
A RESTA REQ RTRN RESTART A ALM COND A RSTA MEM RESET A RESTART MEM
RESTART RESET
#70100 #50780
A RESTART A RESTART
MEM
( ) ARC SHORTAGE RESTART
ARC STOP
#70117 #50783 #50780 #70124
A ALM W2 RTRN RESTART A RESTART A STOP AT RESTA
#70124
A STOP AT RESTA
( ) RESTART
RETURN MEMORY
#50783 #70103 #70097
RTRN RESTART RESTARTING RESTA RTRN MEM
#70097
RESTA RTRN MEM
12-48
12.4 Arc Welding
( ) RESTART MEMORY
#70103 #70097 #40583 #70110 #70111 #70102
RESTARTING RESTA RESTART G SHRTG W SHRTG RESTART MEM
RTRN MEM RESET ALM COND ALM COND
( ) RESTART INVALID
#70103 CNT #70104
RESTARTING M466 RESTA INVLD
1 TIME
M256
#70062 RESTART VAL
ARCON INTERVAL
#70096
RETRYING
( ) ARC AND RELAY STICKING

CONFIRM AUXILIARY
#50054 #70066 #50771 #70073 #70045 #70040 #70157
PLAY MODE A OCCR END WORK STICK CK PSEUD ARC OCCR CK A RLY STICK CONT AUX
SET COND OK REQ ARCON
ARC CONFIRM
( )
TMR RELAY STICKING
#70157 #70156
A RLY STICK 30 A CONF RLY STICK
CONF AUX M210
ARC CONF
RLY STICK
ARC SHORTAGE
( ) (ROBOT SIDE)
#70070 #70040 #70094 #70103 TMR #50070 #70045 #70066 #70154
ARC OCCR ARC OCCR RETRY RESTARTING 10 RUNNING PSEUD A OCCR ARC SHORT (RB)
CK PROCESSING M211 ARCON COND OK
A SHORT
(RB SIDE)
#70154
A SHORT (RB SIDE)
( ) WELDING POWER
TMR ERROR
#70066 #21272 #70153
A OCCR A SHORT 10 WELD POW ERR
COND OK
M212
WELD POW ERR
( ) SYSTEM RESERVED
#31270 #31270
SYS RESERV SYS RESERV
( ) ARC ON
#70066 #31271
A OCCR COND OK ARCON
( ) WIRE INCHING
#70060 #31272
INCHING W INCH
( ) WIRE RETRACT
#70061 #31273
RETRACT W RETRCT
( ) SEARCH INSTRUCTION
#50270 #50070 #31275
SERCHING A RUNNING SEARCH
12-49
12.4 Arc Welding
User Ladder Section

Signal connection specification and interface signals with system ladder are prepared prior to
shipment. Including, these signals, ladder programs can be edited.
( ) EXTERNAL START
#20010 #70010
EX START EX START
( ) MASTER JOB CALL

#20012 #40030
MST JOB CAL MST JOB CAL
( ) ALARM/ERROR RESET
#20013 #40014
A/E RST A/E RESET
( ) PLAY MODE SELECT
#20015 #40041
PLY MOD SLCT PLY MODE SLCT
( ) TEACH MODE SELECT

#20016 #40040
TEACH SLCT TEACH SLCT
INTERFERENCE 1
( ) ENTRANCE PROHIBIT
#20020 #70030
INTER1 ENT PROH INTER1 ENT PROH
( ) INTERFERENCE 2
#20021 #70031 ENTRANCE PRHIBIT
INTER2 ENT PROH INTER2 ENT PROH
( ) WORK PROHIBIT
#20022 #70046 (ARC OCCURRENCE PROHIBIT)
ARC OCCR PROH ARC OCCR PROH
( ) WORK RESPONSE
#20023 #70045 (PSEUDO ARC ON RESPONSE)
PSEUD ARCON PSEUD ARCON
( ) WEAVING PROHIBIT
#20026 #40047
WEAV PROH WEAVE PROH
( ) SENSING PROHIBIT
#20027 #40600
SENS PROH SENSE PROH
( ) ARC SHORTAGE RESTART

#11284 #70101 MEMORY RESET
A RSTA MEM A RSTA MEM RESET
RESET
( ) RESTART RESET
#11285 #40583 REQUEST
RESTART RESTART RESET
RESET
( ) OPERATING
#50070 #30010
RUNNING OPERAT
( ) SERVO ON
#50073 #30011
SV ON SV ON
( ) TOP MASTER JOB

#50020 #30012
TOP MASTER TOP MAST JOB
ALARM/ERROR
( )
OCCURRENCE
#70020 #30013
ALM OCCR ALARM/ERR OCCR
#50014
ERROR
( ) BATTERY ALARM
#50015 #30014
M BAT BATT ALM
WEAK
#50016
E BAT WEAK
( ) REMOTE MODE SELECTING

#40057 #30015
IO PROH REMOTE MOD SLCT
#50056
C REMOTE
SET
( ) PLAY MODE SELECTING
#50054 #30016
PLAY MODE PLY MOD SLCT
SET
( ) TEACH MODE SELECTING
#50053 #30017
TEACH MODE TEACH MOD SLCT
SET
( ) IN CUBE 1
#70034 #30020
INCUBE1 IN CUBE1
( ) IN CUBE 2
#70035 #30021
INCUBE2 IN CUBE2
12-50
12.4 Arc Welding
( ) WORK HOME POSITION

(IN CUBE 32)
#50117 #30022
INTER32 WORK HOME POS
( ) SEQUENCE EXECUTING
#50220 #30023
S CONT JOB A SEQ EXE
( ) GAS SHORTAGE
(MONITOR)
#21270 #30024
G SHORT (MON) G SHORT (MON)
( ) WIRE SHORTAGE
#30025 (MONITOR)
#21271
W SHORT (MON) W SHORT (MON)
( ) WIRE STICKING
#70080 #30026 (MONITOR)
STICKING (FIN) W STICK (MON)
( ) ARC SHORTAGE
#70066 (MONITOR)
#21212 #30027
A SHORT A OCCR COND OK A SHORT (MON)
(MON)
GRP
#20030
#00010
GRP
#20040
#00020
GRP
#20050
#00030
GRP
#20060
#00040
GRP
#20070
#00050
GRP
#20080
#00060
GRP
#20090
#00070
GRP
#20100
#00080
GRP
#20110
#00090
GRP
#20120
#00100
GRP
#20130
#00110
GRP
#20140
#00120
GRP
#20150
#00130
GRP
#20160
#00140
12-51
12.4 Arc Welding
GRP
#20170
#00150
GRP
#20180
#00160
GRP
#20190
#00170
GRP
#20200
#00180
GRP
#20210
#00190
GRP
#20220
#00200
GRP
#20230
#00210
GRP
#20240
#00220
GRP
#20250
#00230
GRP
#20260
#00240
GRP
#20270
#00250
GRP
#20280
#00260
GRP
#20290
#00270
GRP
#20300
#00280
GRP
#20310
#00290
GRP
#20320
#00300
GRP
#20330
#00310
GRP
#20340
#00320
12-52
12.4 Arc Welding
GRP
#20350
#00330
GRP
#20360
#00340
GRP
#20370
#00350
GRP
#20380
#00360
GRP
#20390
#00370
GRP
#20400
#00380
GRP
#20410
#00390
GRP
#20420
#00400
GRP
#20430
#00410
GRP
#20440
#00420
GRP
#20450
#00430
GRP
#20460
#00440
GRP
#20470
#00450
GRP
#20480
#00460
GRP
#20490
#00470
GRP
#20500
#00480
GRP
#20510
#00490
GRP
#20520
#00500
12-53
12.4 Arc Welding
GRP
#20530
#00510
GRP
#20540
#00520
GRP
#20550
#00530
GRP
#20560
#00540
GRP
#20570
#00550
GRP
#20580
#00560
GRP
#20590
#00570
GRP
#20600
#00580
GRP
#20610
#00590
GRP
#20620
#00600
GRP
#20630
#00610
GRP
#20640
#00620
GRP
#20650
#00630
GRP
#20660
#00640
GRP
#20670
#00650
GRP
#20680
#00660
GRP
#20690
#00670
GRP
#20700
#00680
12-54
12.4 Arc Welding
GRP
#20710
#00690
GRP
#20720
#00700
GRP
#20730
#00710
GRP
#20740
#00720
GRP
#20750
#00730
GRP
#20760
#00740
GRP
#20770
#00750
GRP
#20780
#00760
GRP
#20790
#00770
GRP
#20800
#00780
GRP
#20810
#00790
GRP
#20820
#00800
GRP
#20830
#00810
GRP
#20840
#00820
GRP
#20850
#00830
GRP
#20860
#00840
GRP
#20870
#00850
GRP
#20880
#00860
12-55
12.4 Arc Welding
GRP
#20890
#00870
GRP
#20900
#00880
GRP
#20910
#00890
GRP
#20920
#00900
GRP
#20930
#00910
GRP
#20940
#00920
GRP
#20950
#00930
GRP
#20960
#00940
GRP
#20970
#00950
GRP
#20980
#00960
GRP
#20990
#00970
GRP
#21000
#00980
GRP
#21010
#00990
GRP
#21020
#01000
GRP
#21030
#01010
GRP
#21040
#01020
GRP
#21050
#01030
GRP
#21060
#01040
12-56
12.4 Arc Welding
GRP
#21070
#01050
GRP
#21080
#01060
GRP
#21090
#01070
GRP
#21100
#01080
GRP
#21110
#01090
GRP
#21120
#01100
GRP
#21130
#01110
GRP
#21140
#01120
GRP
#21150
#01130
GRP
#21160
#01140
GRP
#21170
#01150
GRP
#21180
#01160
GRP
#21190
#01170
GRP
#21200
#01180
GRP
#10010
#30030
GRP
#10020
#30040
GRP
#10030
#30050
GRP
#10040
#30060
12-57
12.4 Arc Welding
GRP
#10050
#30070
GRP
#10060
#30080
GRP
#10070
#30090
GRP
#10080
#30100
GRP
#10090
#30110
GRP
#10100
#30120
GRP
#10110
#30130
GRP
#10120
#30140
GRP
#10130
#30150
GRP
#10140
#30160
GRP
#10150
#30170
GRP
#10160
#30180
GRP
#10170
#30190
GRP
#10180
#30200
GRP
#10190
#30210
GRP
#10200
#30220
GRP
#10210
#30230
GRP
#10220
#30240
12-58
12.4 Arc Welding
GRP
#10230
#30250
GRP
#10240
#30260
GRP
#10250
#30270
GRP
#10260
#30280
GRP
#10270
#30290
GRP
#10280
#30300
GRP
#10290
#30310
GRP
#10300
#30320
GRP
#10310
#30330
GRP
#10320
#30340
GRP
#10330
#30350
GRP
#10340
#30360
GRP
#10350
#30370
GRP
#10360
#30380
GRP
#10370
#30390
GRP
#10380
#30400
GRP
#10390
#30410
GRP
#10400
#30420
12-59
12.4 Arc Welding
GRP
#10410
#30430
GRP
#10420
#30440
GRP
#10430
#30450
GRP
#10440
#30460
GRP
#10450
#30470
GRP
#10460
#30480
GRP
#10470
#30490
GRP
#10480
#30500
GRP
#10490
#30510
GRP
#10500
#30520
GRP
#10510
#30530
GRP
#10520
#30540
GRP
#10530
#30550
GRP
#10540
#30560
GRP
#10550
#30570
GRP
#10560
#30580
GRP
#10570
#30590
GRP
#10580
#30600
12-60
12.4 Arc Welding
GRP
#10590
#30610
GRP
#10600
#30620
GRP
#10610
#30630
GRP
#10620
#30640
GRP
#10630
#30650
GRP
#10640
#30660
GRP
#10650
#30670
GRP
#10660
#30680
GRP
#10670
#30690
GRP
#10680
#30700
GRP
#10690
#30710
GRP
#10700
#30720
GRP
#10710
#30730
GRP
#10720
#30740
GRP
#10730
#30750
GRP
#10740
#30760
GRP
#10750
#30770
GRP
#10760
#30780
12-61
12.4 Arc Welding
GRP
#10770
#30790
GRP
#10780
#30800
GRP
#10790
#30810
GRP
#10800
#30820
GRP
#10810
#30830
GRP
#10820
#30840
GRP
#10830
#30850
GRP
#10840
#30860
GRP
#10850
#30870
GRP
#10860
#30880
GRP
#10870
#30890
GRP
#10880
#30900
GRP
#10890
#30910
GRP
#10900
#30920
GRP
#10910
#30930
GRP
#10920
#30940
GRP
#10930
#30950
GRP
#10940
#30960
12-62
12.4 Arc Welding
GRP
#10950
#30970
GRP
#10960
#30980
GRP
#10970
#30990
GRP
#10980
#31000
GRP
#10990
#31010
GRP
#11000
#31020
GRP
#11010
#31030
GRP
#11020
#31040
GRP
#11030
#31050
GRP
#11040
#31060
GRP
#11050
#31070
GRP
#11060
#31080
GRP
#11070
#31090
GRP
#11080
#31100
GRP
#11090
#31110
GRP
#11100
#31120
GRP
#11110
#31130
GRP
#11120
#31140
12-63
12.4 Arc Welding
GRP
#11130
#31150
GRP
#11140
#31160
GRP
#11150
#31170
GRP
#11160
#31180
GRP
#11170
#31190
GRP
#11180
#31200
12-64
12.4 Arc Welding
I/O Alarm
Alarm No. Register No. I/O Alarm Message

System Sec-
tion 9000 00
9001 01 MISSING ARC GENERATION CON-
FIRM
9002 02 ARC SHORTAGE
9003 03
9004 04 GAS SHORTAGE (RESTART)
9005 05 WIRE SHORTAGE (RESTART)
9006 06
9007 07
9008 08 WELDER MALFUNCTION
9009 09
9010 10
9011 11
9012 12
9013 13
9014 14
9015 15
9016 16
9017 17
9018 18
9019 19
9020 20
9021 21
: :
9063 63
User Section
9064 64
9065 65
9066 66
9067 67
9068 68
9069 69
: :
9127 127
12-65
12.4 Arc Welding
I/O Message
Register No. I/O Message

System Sec-
tion 00
01 WIRE STICK/ SHORT
02 GAS SHORTAGE
03 WIRE SHORTAGE
04 RESTARTING FOR ARC
05 RESTARTING FOR GAS
06 RESTARTING FOR WIRE
07 END OF ARC RESTARTING
08 ARC CONFIRM RELAY STICKING
09 ARC OCCUR AT TEST RUN
10 VALID ONLY IN MANAGEMENT
MODE (WELD ON)
11
12
13
14
15
16
17
18
19
20
21
:
63
User Section
64
65
66
67
68
69
:
127
12-66
12.4 Arc Welding
USER OPEN SIGNALS

Editing of system ladder is impossible, however, the seven signals which are necessary for
users operation are available. For example, wire inching can be programmed as shown
below.
JOB
NOP SYSTEM LADDER SECTION

. (EDITING IMPOSSIBLE) WIRE INCHING
.
. 70056 REQUEST
.
.
DOUT OT#(1023)ON
. 11286
. USER LADDER SECTION
OT#1021to OT#1024, OT#1013 to OT#1016, OT#1005 to OT#1008, OT#997 to

OT#1000: USER OPEN SIGNALS
Ladder Input
Output Number Meaning
Number
OT#1021, OT#1013, 11284, 11274 Arc shortage restart memory reset

OT#1005, OT#997 11264, 11254
OT#1022, OT#1014, 11285, 11275 Restart reset

OT#1006, OT#998 11265, 11255
OT#1023, OT#1015, 11286, 11276 Inching

OT#1007, OT#999 11266, 11256
OT#1024, OT#1016, 11287, 11277 Retract

OT#1008, OT#1000 11267, 11257
OT#1021, OT#1013, OT#1005, OT#997: ARC SHORTAGE RESTART MEMORY

RESET
State These signals are connected to signal Nos. 70101 and 70301 in the user
ladder. When these signals are on, the arc shortage restart memory signal
Nos. 70100 and 70300 are reset. Use the signals to reset the memory after
taking necessary action, when 1:Output error and continue operation is selected for
the arc shortage restart method. For a system with one application, use output No.
1021 and signal Nos. 70101, or 70100.
12-67
12.4 Arc Welding
70100, 70300 ARC SHORTAGE RESTART MEMORY

These signals are turned on at inadvertent arc shortage if 1: Output error and
continue operation is selected for the arc shortage restart method. When these
signals are turned on, a message END OF ARC RESTARTING is displayed on the
programming pendant. Use the signals to check arc shortage during operation.
OT#1022, OT#1014, OT#1006, OT#998: RESTART RESET
State
These signals are connected to signal Nos. 40583, 40643, 40703, and 40763 in the
user ladder. When these signals are on, restarting is cancelled. Use the signals to
cancel restarting when manual intervention is selected for the restarting method.
For a system with one application, use OT#1022 and signal No. 40583.
OT#1023 to OT#1024, OT#1015 to OT#1016, OT#1007 to OT#1008, OT#999 to

OT#1000: WIRE OPERATION
State
These signals are connected in the system ladder. When these signals are on, the
wire operation output to the welder is executed. Use the signals to control wire in the
job. The feed speed is determined by the last welding current output value in the play-
back. To control this speed, place the ARCSET instruction before the wire operation.
For a system with one application, use output No. 1023 or 1024.
OT#11283, OT#11273, OT#11263, OT#11253: GAS FLOW CONTROL
State
One signal from user open signals and general outputs [#11283 (for arc 1), #11273
(for arc 2), #11263 (for arc 3), and #11253 (for arc 4)] turns ON while the
[INTERLOCK]+[GAS ARCOFF] keys are pressed simultaneously.
SUPPLE- To function gas flow control using above user open signals, the above general outputs
MENT
need to be assigned to external output signals by concurrent I/O ladder so that the signals
can be connected to the welders input signals for gas flow control.
An example of connection with one of the YASKAWAs digital welder MOTOWELD-E series
is shown below:
Robot I/F Unit (Type: JZNC-NIF01) Inserted ladder circuit

STR#11283
OUT#30050
CN08
CON3
WELDING
Connector termianl converter POWER
(Type: PX7DS-40V6-R) SOURCE
Logical number: 30050 MOTOWELD-E

Name : OUT17+ OUT17- SERIES
Terminal No.: 15 16
To XEW board Welding instruction cable
NX100
12-68
12.5 Handling
12.5 Handling
LADDER PROGRAM LIST

cannot be edited.
( ) SYSTEM SECTION
#70054 #50053 #40010 ALARM REQUEST
( ) EXTERNAL HOLD
#70053 #40067
#70022
( ) SYSTEM SECTION
#50776 #50777 #50053 #40150 MESSAGE CODE d0
( ) SYSTEM SECTION
#70054 #50053 #50777 #70053 #40151 MESSAGE CODE d1
( ) SYSTEM SECTION
#50776 #50777 #50053 #40011 MESSAGE REQUEST
#70054 #50053
#70053
( ) REMOTE KEY SELECT
#80011 #70025
( ) IO PROHIBIT
#70025 #82014 #40057
#70025
( ) CMD REMOTE KEY SELECT
#70025 #82015 #40042
( ) PPANEL OPERATION PROHIBIT
#70025 #82016 #40056
( ) SEQUENCE WAIT
#70030 #70034 #50080 #50063 #40090
#70031 #70035 #50081
#70032 #70036 #50082
#70033 #70037 #50083
#70040 #70044 #50084
#70041 #70045 #50085
#70042 #70046 #50086

( ) WAITING UNTIL
#50081
#50082
#50083
#50084
#50085
#50086
#70021 #50076 #50070
12-69
12.5 Handling
( ) IN CUBE 1
#50080 #70021 #70034
( ) IN CUBE 2
#50081 #70021 #70035
( ) IN CUBE 3
#50082 #70021 #70036
( ) IN CUBE 4
#50083 #70021 #70037
( ) IN CUBE 5
#50084 #70021 #70044
( ) IN CUBE 6
#50085 #70021 #70045
( ) IN CUBE 7
#50086 #70021 #70046
#50010 #70020
#50011
#50012
#50013
( ) 1 CYCLE SELECT
#70065 #40051
( ) CONTINUOUS CYCLE
#70067 #40052 SELECT
( ) PLAY/1 CYCLE
#50054 #50051 #70064 SELECTING
( ) PLAY/CONTINUOUS
#50054 #50052 #70066 SELECTING
( ) START RECEIVING
#70054 #50073 #50014 #70200 #70010 PREPARATION OK
( ) OPERATION POWER ON END
#70017 #70017 (ALWAYS)
#70017
( ) SYSTEM RESERVED
#70016 #70016
( ) SYSTEM RESERVED
#70016 CNT #70015
250
M259
#70015
( ) WORK INSTRUCTION
#50770 #50771 #50752 #70050
#70050
#50770 #40570
#50771 #40571
( ) WORK OPERATING
#70050 #50070 #70051
#70051 #40572
#70050 #50772 #50070 #70052 CONTINUING PROHIBIT
12-70
12.5 Handling
User Ladder Section

shipment. Including these signals, ladder programs can be edited.
( ) EXTERNAL START
#20010 #50073 #40044
( ) MASTER JOB CALL
#20012 #40030
#20013 #40014
#20015 #40041
#20016 #40040
( ) INTERFERENCE 1
#20020 #70030 ENTRANCE PROHIBIT
( ) INTERFERENCE 2
( ) SENSOR INPUT 1
#20050 #40580
( ) SENSOR INPUT 2
#20051 #40581
( ) SENSOR INPUT 3
#20052 #40582
( ) SENSOR INPUT 4
#20053 #40583
( ) SENSOR INPUT 5
#20054 #40584
( ) SENSOR INPUT 6
#20055 #40585
( ) SENSOR INPUT 7
#20056 #40586
( ) SENSOR INPUT 8
#20057 #40587
( ) SHOCK SENSOR INPUT
#50777 #50776 #20026 #70053
#50053
( ) AIR PRESSURE DECREASE
#20027 #70054 INPUT
( ) OPERATING
#50070 #30010
( ) SERVO ON
#50073 #30011
( ) TOP MASTER JOB
#50020 #30012
( ) ALARM/ERROR
#70020 #30013 OCCURRENCE
#50014
( ) BATTERY ALARM
#50015 #30014
#50016
#40057 #30015
#50056
#50054 #30016
#50053 #30017
( ) IN CUBE 1
#70034 #30020
( ) IN CUBE 2
#70035 #30021
#50117 #30022 (IN CUBE 32)
#50220 #30023
( ) TOOL VALVE 1-1
#50780 #30050
( ) TOOL VALVE 1-2
#50781 #30051
( ) TOOL VALVE 2-1
#50782 #30052
( ) TOOL VALVE 2-2
#50783 #30053
( ) TOOL VALVE 3-1
#50784 #30054
( ) TOOL VALVE 3-2
#50785 #30055
12-71
12.5 Handling
( ) TOOL VALVE 4-1

#50786 #30056
( ) TOOL VALVE 4-2
#50787 #30057
GRP
#20030
#00010
GRP
#20040
#00020
GRP
#20060
#00030
GRP
#20070
#00040
GRP
#20080
#00050
GRP
#20090
#00060
GRP
#20100
#00070
GRP
#20110
#00080
GRP
#20120
#00090
GRP
#20130
#00100
GRP
#20140
#00110
GRP
#20150
#00120
GRP
#20160
#00130
GRP
#20170
#00140
GRP
#20180
#00150
GRP
#20190
#00160
GRP
#20200
#00170
12-72
12.5 Handling
GRP
#20210
#00180
GRP
#20220
#00190
GRP
#20230
#00200
GRP
#20240
#00210
GRP
#20250
#00220
GRP
#20260
#00230
GRP
#20270
#00240
GRP
#20280
#00250
GRP
#20290
#00260
GRP
#20300
#00270
GRP
#20310
#00280
GRP
#20320
#00290
GRP
#20330
#00300
GRP
#20340
#00310
GRP
#20350
#00320
GRP
#20360
#00330
GRP
#20370
#00340
GRP
#20380
#00350
12-73
12.5 Handling
GRP
#20390
#00360
GRP
#20400
#00370
GRP
#20410
#00380
GRP
#20420
#00390
GRP
#20430
#00400
GRP
#20440
#00410
GRP
#20450
#00420
GRP
#20460
#00430
GRP
#20470
#00440
GRP
#20480
#00450
GRP
#20490
#00460
GRP
#20500
#00470
GRP
#20510
#00480
GRP
#20520
#00490
GRP
#20530
#00500
GRP
#20540
#00510
GRP
#20550
#00520
GRP
#20560
#00530
12-74
12.5 Handling
GRP
#20570
#00540
GRP
#20580
#00550
GRP
#20590
#00560
GRP
#20600
#00570
GRP
#20610
#00580
GRP
#20620
#00590
GRP
#20630
#00600
GRP
#20640
#00610
GRP
#20650
#00620
GRP
#20660
#00630
GRP
#20670
#00640
GRP
#20680
#00650
GRP
#20690
#00660
GRP
#20700
#00670
GRP
#20710
#00680
GRP
#20720
#00690
GRP
#20730
#00700
GRP
#20740
#00710
12-75
12.5 Handling
GRP
#20750
#00720
GRP
#20760
#00730
GRP
#20770
#00740
GRP
#20780
#00750
GRP
#20790
#00760
GRP
#20800
#00770
GRP
#20810
#00780
GRP
#20820
#00790
GRP
#20830
#00800
GRP
#20840
#00810
GRP
#20850
#00820
GRP
#20860
#00830
GRP
#20870
#00840
GRP
#20880
#00850
GRP
#20890
#00860
GRP
#20900
#00870
GRP
#20910
#00880
GRP
#20920
#00890
12-76
12.5 Handling
GRP
#20930
#00900
GRP
#20940
#00910
GRP
#20950
#00920
GRP
#20960
#00930
GRP
#20970
#00940
GRP
#20980
#00950
GRP
#20990
#00960
GRP
#21000
#00970
GRP
#21010
#00980
GRP
#21020
#00990
GRP
#21030
#01000
GRP
#21040
#01010
GRP
#21050
#01020
GRP
#21060
#01030
GRP
#21070
#01040
GRP
#21080
#01050
GRP
#21090
#01060
GRP
#21100
#01070
12-77
12.5 Handling
GRP
#21110
#01080
GRP
#21120
#01090
GRP
#21130
#01100
GRP
#21140
#01110
GRP
#21150
#01120
GRP
#21160
#01130
GRP
#21170
#01140
GRP
#21180
#01150
GRP
#21190
#01160
GRP
#21200
#01170
GRP
#21210
#01180
GRP
#21220
#01190
GRP
#21230
#01200
GRP
#21240
#01210
GRP
#21250
#01220
GRP
#21260
#01230
GRP
#21270
#01240
GRP
#21280
#01250
12-78
12.5 Handling
GRP
#10010
#30030
GRP
#10020
#30040
GRP
#10030
#30060
GRP
#10040
#30070
GRP
#10050
#30080
GRP
#10060
#30090
GRP
#10070
#30100
GRP
#10080
#30110
GRP
#10090
#30120
GRP
#10100
#30130
GRP
#10110
#30140
GRP
#10120
#30150
GRP
#10130
#30160
GRP
#10140
#30170
GRP
#10150
#30180
GRP
#10160
#30190
GRP
#10170
#30200
GRP
#10180
#30210
12-79
12.5 Handling
GRP
#10190
#30220
GRP
#10200
#30230
GRP
#10210
#30240
GRP
#10220
#30250
GRP
#10230
#30260
GRP
#10240
#30270
GRP
#10250
#30280
GRP
#10260
#30290
GRP
#10270
#30300
GRP
#10280
#30310
GRP
#10290
#30320
GRP
#10300
#30330
GRP
#10310
#30340
GRP
#10320
#30350
GRP
#10330
#30360
GRP
#10340
#30370
GRP
#10350
#30380
GRP
#10360
#30390
12-80
12.5 Handling
GRP
#10370
#30400
GRP
#10380
#30410
GRP
#10390
#30420
GRP
#10400
#30430
GRP
#10410
#30440
GRP
#10420
#30450
GRP
#10430
#30460
GRP
#10440
#30470
GRP
#10450
#30480
GRP
#10460
#30490
GRP
#10470
#30500
GRP
#10480
#30510
GRP
#10490
#30520
GRP
#10500
#30530
GRP
#10510
#30540
GRP
#10520
#30550
GRP
#10530
#30560
GRP
#10540
#30570
12-81
12.5 Handling
GRP
#10550
#30580
GRP
#10560
#30590
GRP
#10570
#30600
GRP
#10580
#30610
GRP
#10590
#30620
GRP
#10600
#30630
GRP
#10610
#30640
GRP
#10620
#30650
GRP
#10630
#30660
GRP
#10640
#30670
GRP
#10650
#30680
GRP
#10660
#30690
GRP
#10670
#30700
GRP
#10680
#30710
GRP
#10690
#30720
GRP
#10700
#30730
GRP
#10710
#30740
GRP
#10720
#30750
12-82
12.5 Handling
GRP
#10730
#30760
GRP
#10740
#30770
GRP
#10750
#30780
GRP
#10760
#30790
GRP
#10770
#30800
GRP
#10780
#30810
GRP
#10790
#30820
GRP
#10800
#30830
GRP
#10810
#30840
GRP
#10820
#30850
GRP
#10830
#30860
GRP
#10840
#30870
GRP
#10850
#30880
GRP
#10860
#30890
GRP
#10870
#30900
GRP
#10880
#30910
GRP
#10890
#30920
GRP
#10900
#30930
12-83
12.5 Handling
GRP
#10910
#30940
GRP
#10920
#30950
GRP
#10930
#30960
GRP
#10940
#30970
GRP
#10950
#30980
GRP
#10960
#30990
GRP
#10970
#31000
GRP
#10980
#31010
GRP
#10990
#31020
GRP
#11000
#31030
GRP
#11010
#31040
GRP
#11020
#31050
GRP
#11030
#31060
GRP
#11040
#31070
GRP
#11050
#31080
GRP
#11060
#31090
GRP
#11070
#31100
GRP
#11080
#31110
12-84
12.5 Handling
GRP
#11090
#31120
GRP
#11100
#31130
GRP
#11110
#31140
GRP
#11120
#31150
GRP
#11130
#31160
GRP
#11140
#31170
GRP
#11150
#31180
GRP
#11160
#31190
GRP
#11170
#31200
GRP
#11180
#31210
GRP
#11190
#31220
GRP
#11200
#31230
GRP
#11210
#31240
GRP
#11220
#31250
GRP
#11230
#31260
GRP
#11240
#31270
GRP
#11250
#31280
12-85
12.5 Handling
I/O ALARM

System Sec-
tion 9000 00 AIR PRESSURE LOWERED
9001 01
9002 02
9003 03
9004 04
9005 05
9006 06
9007 07
9008 08
9009 09
9010 10
9011 11
9012 12
9013 13
9014 14
9015 15
9016 16
9017 17
9018 18
9019 19
9020 20
9021 21
: :
9063 63
User Section
9064 64
9065 65
9066 66
9067 67
9068 68
9069 69
: :
9127 127
12-86
12.5 Handling
I/O Message

System Sec-
tion 00 TOOL SHOCK SENSOR WORKING
01 TOOL SHOCK SENSOR INP. RELEAS-
ING
02 AIR PRESSURE LOWERING
03
04
05
06
07
08
09
10
11
12
13
14
15
16
17
18
19
20
21
:
63
User Section
64
65
66
67
68
69
:
123
12-87
12.6 Spot Welding
12.6 Spot Welding
Ladder Program List

cannot be edited.
( ) REMOTE SELECT
#80011 #70025
( ) IO PROHIBITED
#70025 #82014 #40057
#70025
( ) CMD REMOTE MODE
#70025 #82015 #40042 SELECT
( ) PP/PPANEL OPERATION
#70025 #82016 #40056 PROHIBIT
( ) SEQUENCE WAIT
#70030 #70034 #50080 #50063 #40090
#70031 #50081
#70032 #70036 #50082
#70033 #50083
( ) WAITING UNTIL
#50081
#50082
#50083
#70021 #50076 #50070

( ) IN CUBE 1
#50080 #70021 #70034
( ) IN CUBE 2
#50081 #70021 #70035
( ) IN CUBE 3
#50082 #70021 #70036
( ) IN CUBE 4
#50083 #70021 #70037
#50010 #70020
#50011
#50012
#50013
( ) START RECEIVING
#50054 #50073 #50014 #70020 #70011 PREPARATION OK
( ) EXTERNAL START
#70010 #50073 #40044
( ) CONTOROL POWER ON
#70017 #70017 COMPLETED (NORMALLY ON)
#70017
( ) SYSTEM RESERVED
#70016 #70016
( ) SYSTEM RESERVED
#70016 CNT #70015
250
M259
#70015
( ) WELDING ON/OFF
#50054 #50070 #50064 #70040 #70020 #70070 OUTPUT
#50053 #50777
( ) MANUAL WELDING
#70070 #50053 #70094 MESSAGE
12-88
12.6 Spot Welding
( ) TIMER COOLING WATER

#70050 #50070 #50064 #50054 #70041 #70080 ALARM
( ) GUN COOLING WATER
#70054 #50070 #50064 #50054 #70041 #70081 ALARM
( ) TRANS. THERMO. ALARM
#70060 #50070 #50064 #50054 #70041 #70082
( ) LOWERED AIR PRESSURE
#70064 #50070 #50064 #50054 #70041 #70083 ALARM
( ) TIMER WATER COOLING
#70050 #50053 #70090 MESSAGE
( ) GUN COOLING WATER
#70054 #50053 #70091 MESSAGE
( ) LOWERED AIR PRESSURE
#70064 #50053 #70093 MESSAGE
( ) WELDING STOP
#70041 #40577
( ) SYSTEM SECTION ALARM
#70080 #40010 REQUEST
#70081
#70082
#70083
( ) SYSTEM SECTION
#70081 #70080 #40130 ALARM CODE d0
#70083 #70082
( ) SYSTEM SECTION
#70082 #70080 #70081 #40131 ALARM CODE d1
#70083
( ) SYSTEM SECTION
#70091
#70093
#70094
( ) SYSTEM SECTION
#70091 #70090 #40150 MESSAGE CODE d0
#70094 #70093
( ) SYSTEM SECTION
#70093 #70090 #70091 #40151 MESSAGE CODE d1
#70094
12-89
12.6 Spot Welding
User Ladder Section

( ) EXTERNAL START
#20010 #70010
( ) MASTER JOB CALL
#20012 #40030
#20013 #40014
#20015 #40041
#20016 #40040
( ) INTERFERENCE 1
( ) INTERFERENCE 2
( ) WELD ON/OFF REQUEST
#20022 #70040
( ) WELDING STOP INPUT
#20023 #70041
( ) INTERFERENCE 3
( ) INTERFERENCE 4
( ) OPERATING
#50070 #30010
( ) SERVO ON
#50073 #30011
( ) TOP MASTER JOB
#50020 #30012
( ) ALARM/ERROR
#50014
( ) BATTERY ALARM
#50015 #30014
#50016
#40057 #30015
#50056
#50054 #30016
#50053 #30017
( ) IN CUBE 1
#70034 #30020
( ) IN CUBE 2
#70035 #30021
#50117 #30022 (IN CUBE 32)
#50220 #30023
( ) IN CUBE 3
#70036 #30024
( ) IN CUBE 4
#70037 #30025
GRP
#20030
#00010
( ) ERROR INPUT OF WELD

#20050 #82020 TMR #70050 TIMER COOLING WATER
M460
M250
( ) ERROR INPUT OF GUN

#20051 #82021 TMR #70054 COOLING WATER
M461
M251
( ) TRANS THERMO ERROR INPUT

#20052 #82022 #70060
( ) ERROR INPUT OF
#20053 #82023 TMR #70064 AIR PRESSURE LOW
M462
M252
( ) IN009
#20050 #82020 #00020
( ) IN010
#20051 #82021 #00021
12-90
12.6 Spot Welding
( ) IN011
#20052 #82022 #00022
( ) IN012
#20053 #82023 #00023
( ) IN013
#20054 #00024
( ) IN014
#20055 #00025
( ) IN015
#20056 #00026
( ) IN016
#20057 #00027
GRP
#20040
#00030
GRP
#20060
#00040
GRP
#20070
#00050
GRP
#20080
#00060
GRP
#20090
#00070
GRP
#20100
#00080
GRP
#20110
#00090
GRP
#20120
#00100
GRP
#20130
#00110
GRP
#20140
#00120
GRP
#20150
#00130
GRP
#20160
#00140
GRP
#20170
#00150
GRP
#20180
#00160
GRP
#20190
#00170
12-91
12.6 Spot Welding
GRP
#20200
#00180
GRP
#20210
#00190
GRP
#20220
#00200
GRP
#20230
#00210
GRP
#20240
#00220
GRP
#20250
#00230
GRP
#20260
#00240
GRP
#20270
#00250
GRP
#20280
#00260
GRP
#20290
#00270
GRP
#20300
#00280
GRP
#20310
#00290
GRP
#20320
#00300
GRP
#20330
#00310
GRP
#20340
#00320
GRP
#20350
#00330
GRP
#20360
#00340
GRP
#20370
#00350
12-92
12.6 Spot Welding
GRP
#20380
#00360
GRP
#20390
#00370
GRP
#20400
#00380
GRP
#20410
#00390
GRP
#20420
#00400
GRP
#20430
#00410
GRP
#20440
#00420
GRP
#20450
#00430
GRP
#20460
#00440
GRP
#20470
#00450
GRP
#20480
#00460
GRP
#20490
#00470
GRP
#20500
#00480
GRP
#20510
#00490
GRP
#20520
#00500
GRP
#20530
#00510
GRP
#20540
#00520
GRP
#20550
#00530
12-93
12.6 Spot Welding
GRP
#20560
#00540
GRP
#20570
#00550
GRP
#20580
#00560
GRP
#20590
#00570
GRP
#20600
#00580
GRP
#20610
#00590
GRP
#20620
#00600
GRP
#20630
#00610
GRP
#20640
#00620
GRP
#20650
#00630
GRP
#20660
#00640
GRP
#20670
#00650
GRP
#20680
#00660
GRP
#20690
#00670
GRP
#20700
#00680
GRP
#20710
#00690
GRP
#20720
#00700
GRP
#20730
#00710
12-94
12.6 Spot Welding
GRP
#20740
#00720
GRP
#20750
#00730
GRP
#20760
#00740
GRP
#20770
#00750
GRP
#20780
#00760
GRP
#20790
#00770
GRP
#20800
#00780
GRP
#20810
#00790
GRP
#20820
#00800
GRP
#20830
#00810
GRP
#20840
#00820
GRP
#20850
#00830
GRP
#20860
#00840
GRP
#20870
#00850
GRP
#20880
#00860
GRP
#20890
#00870
GRP
#20900
#00880
GRP
#20910
#00890
12-95
12.6 Spot Welding
GRP
#20920
#00900
GRP
#20930
#00910
GRP
#20940
#00920
GRP
#20950
#00930
GRP
#20960
#00940
GRP
#20970
#00950
GRP
#20980
#00960
GRP
#20990
#00970
GRP
#21000
#00980
GRP
#21010
#00990
GRP
#21020
#01000
GRP
#21030
#01010
GRP
#21040
#01020
GRP
#21050
#01030
GRP
#21060
#01040
GRP
#21070
#01050
GRP
#21080
#01060
GRP
#21090
#01070
12-96
12.6 Spot Welding
GRP
#21100
#01080
GRP
#21110
#01090
GRP
#21120
#01100
GRP
#21130
#01110
GRP
#21140
#01120
GRP
#21150
#01130
GRP
#21160
#01140
GRP
#21170
#01150
GRP
#21180
#01160
GRP
#21190
#01170
GRP
#21200
#01180
GRP
#21210
#01190
GRP
#21220
#01200
GRP
#21230
#01210
GRP
#21240
#01220
GRP
#21250
#01230
GRP
#21260
#01240
GRP
#21270
#01250
12-97
12.6 Spot Welding
GRP
#21280
#01260
GRP
#10010
#30030
( ) WELDING ON/OFF
#10020 #82024 #30050 OT009
#70070 #82024
( ) WELDING ERROR
#10021 #30051 RESET (OT010)
( ) WELDING CONDITION 1
#10022 #30052 (OT011)
#10023 #30053 (OT012)
#10024 #30054 (OT013)
#10025 #30055 (OT014)
( ) GUN PRESSURE
#10026 #30056 (OT015)
( ) TIP REPLACEMENT
#10027 #30057 REQUEST (OT016)
GRP
#10030
#30040
GRP
#10040
#30060
GRP
#10050
#30070
GRP
#10060
#30080
GRP
#10070
#30090
GRP
#10080
#30100
GRP
#10090
#30110
GRP
#10100
#30120
GRP
#10110
#30130
GRP
#10120
#30140
12-98
12.6 Spot Welding
GRP
#10150
#30170
GRP
#10160
#30180
GRP
#10170
#30190
GRP
#10180
#30200
GRP
#10190
#30210
GRP
#10200
#30220
GRP
#10210
#30230
GRP
#10220
#30240
GRP
#10230
#30250
GRP
#10240
#30260
GRP
#10250
#30270
GRP
#10260
#30280
GRP
#10270
#30290
GRP
#10280
#30300
12-99
12.6 Spot Welding
GRP
#10290
#30310
GRP
#10300
#30320
GRP
#10310
#30330
GRP
#10320
#30340
GRP
#10330
#30350
GRP
#10340
#30360
GRP
#10350
#30370
GRP
#10360
#30380
GRP
#10370
#30390
GRP
#10380
#30400
GRP
#10390
#30410
GRP
#10400
#30420
GRP
#10410
#30430
GRP
#10420
#30440
GRP
#10430
#30450
GRP
#10440
#30460
GRP
#10450
#30470
GRP
#10460
#30480
12-100
12.6 Spot Welding
GRP
#10470
#30490
GRP
#10480
#30500
GRP
#10490
#30510
GRP
#10500
#30520
GRP
#10510
#30530
GRP
#10520
#30540
GRP
#10530
#30550
GRP
#10540
#30560
GRP
#10550
#30570
GRP
#10560
#30580
GRP
#10570
#30590
GRP
#10580
#30600
GRP
#10590
#30610
GRP
#10600
#30620
GRP
#10610
#30630
GRP
#10620
#30640
GRP
#10630
#30650
GRP
#10640
#30660
12-101
12.6 Spot Welding
GRP
#10650
#30670
GRP
#10660
#30680
GRP
#10670
#30690
GRP
#10680
#30700
GRP
#10690
#30710
GRP
#10700
#30720
GRP
#10710
#30730
GRP
#10720
#30740
GRP
#10730
#30750
GRP
#10740
#30760
GRP
#10750
#30770
GRP
#10760
#30780
GRP
#10770
#30790
GRP
#10780
#30800
GRP
#10790
#30810
GRP
#10800
#30820
GRP
#10810
#30830
GRP
#10820
#30840
12-102
12.6 Spot Welding
GRP
#10830
#30850
GRP
#10840
#30860
GRP
#10850
#30870
GRP
#10860
#30880
GRP
#10870
#30890
GRP
#10880
#30900
GRP
#10890
#30910
GRP
#10900
#30920
GRP
#10910
#30930
GRP
#10920
#30940
GRP
#10930
#30950
GRP
#10940
#30960
GRP
#10950
#30970
GRP
#10960
#30980
GRP
#10970
#30990
GRP
#10980
#31000
GRP
#10990
#31010
GRP
#11000
#31020
12-103
12.6 Spot Welding
GRP
#11010
#31030
GRP
#11020
#31040
GRP
#11030
#31050
GRP
#11040
#31060
GRP
#11050
#31070
GRP
#11060
#31080
GRP
#11070
#31090
GRP
#11080
#31100
GRP
#11090
#31110
GRP
#11100
#31120
GRP
#11110
#31130
GRP
#11120
#31140
GRP
#11130
#31150
GRP
#11140
#31160
GRP
#11150
#31170
GRP
#11160
#31180
GRP
#11170
#31190
GRP
#11180
#31200
12-104
12.6 Spot Welding
GRP
#11190
#31210
GRP
#11200
#31220
GRP
#11210
#31230
GRP
#11220
#31240
GRP
#11230
#31250
GRP
#11240
#31260
GRP
#11250
#31270
GRP
#11260
#31280
12-105
12.6 Spot Welding
I/O Alarm

System Sec-
tion 9000 00 ERR OF WELD TIMER COOLING
WATER
9001 01 ERROR OF GUN COOLING WATER
9002 02 ERROR IN TRANSTHERMO OF GUN
9003 03 AIR PRESSURE LOWERED
9004 04
9005 05
9006 06
9007 07
9008 08
9009 09
9010 10
9011 11
9012 12
9013 13
9014 14
9015 15
9016 16
9017 17
9018 18
9019 19
9020 20
9021 21
: :
9063 63
User Section
9064 64
9065 65
9066 66
9067 67
9068 68
9069 69
: :
9127 127
12-106
12.6 Spot Welding
I/O Message

System Sec-
tion 00 ERR OF WELD TIMER COOLING
WATER
01 ERROR OF GUN COOLING WATER
02 AIR PRESSURE LOWERING
03 AVAILABLE TO MANUAL SPOT
WELDING
04
05
06
07
08
09
10
11
12
13
14
15
16
17
18
19
20
21
:
63
User Section
64
65
66
67
68
69
:
127
12-107
12.7 General-Purpose Applications

LADDER PROGRAM LIST
cannot be edited.
( ) REMOTE SELECT
#80011 #70025
( ) IO PROHIBIT
#70025 #82014 #40057
#70025
( ) CMD REMOTE MODE
#70025 #82015 #40042 SELECT
( ) PP/PPANEL OPERATION
#70025 #82016 #40056 PROHIBIT
( ) SEQUENCE WAIT
#70030 #70034 #50080 #50063 #40090
#70031 #50081
#70032 #70036 #50082
#70033 #50083
( ) WAITING UNTIL
#50081
#50082
#50083
#70021 #50076 #50070

( ) IN CUBE 1
#50080 #70021 #70034
( ) IN CUBE 2
#50081 #70021 #70035
( ) IN CUBE 3
#50082 #70021 #70036
( ) IN CUBE 4
#50083 #70021 #70037
#50010 #70020
#50011
#50012
#50013
( ) START RECEIVING
#50054 #50073 #50014 #70020 #70010 PREPARATION OK
( ) EXTERNAL START
#70010 #50073 #40044
( ) CONTORL POWER ON
#70017 #70017 (NORMALLY ON)
#70017
( ) SYSTEM RESERVED
#70016 #70016
( ) SYSTEM RESERVED
#70016 CNT #70015
250
M259
#70015
#50770 #50771 #70042 #70043 #70040
#70040
#50770 #40570
#50771 #40571
( ) WORK OPERATING
#70040 #50070 #70041
#70041 #40572
#70040 #50772 #50070 #70042 CONTINUING PROHIBIT
#70042
12-108
User Ladder Section

( ) EXTERNAL START
#20010 #70010
( ) MASTER JOB CALL
#20012 #40030
#20013 #40014
#20015 #40041
#20016 #40040
( ) INTERFERENCE 1
( ) INTERFERENCE 2
( ) WORK PROHIBIT
#20022 #70043
( ) INTERFERENCE 3
( ) INTERFERENCE 4
( ) OPERATING
#50070 #30010
( ) SERVO ON
#50073 #30011
( ) TOP MASTER JOB
#50020 #30012
( ) ALARM/ERROR
#50014
( ) BATTERY ALARM
#50015 #30014
#50016
( ) REMOTE MODE
#40057 #30015 SELECTING
#50056
( ) PLAY MODE
#50054 #30016 SELECTING
( ) TEACH MODE
#50053 #30017 SELECTING
( ) IN CUBE 1
#70034 #30020
( ) IN CUBE 2
#70035 #30021
#50117 #30022 (IN CUBE 32)
#50220 #30023
( ) IN CUBE 3
#70036 #30024
( ) IN CUBE 4
#70037 #30025
#70040 #30026
GRP
#20030
#00010
GRP
#20040
#00020
GRP
#20050
#00030
GRP
#20060
#00040
GRP
#20070
#00050
12-109
GRP
#20080
#00060
GRP
#20090
#00070
GRP
#20100
#00080
GRP
#20110
#00090
GRP
#20120
#00100
GRP
#20130
#00110
GRP
#20140
#00120
GRP
#20150
#00130
GRP
#20160
#00140
GRP
#20170
#00150
GRP
#20180
#00160
GRP
#20190
#00170
GRP
#20200
#00180
GRP
#20210
#00190
GRP
#20220
#00200
GRP
#20230
#00210
GRP
#20240
#00220
GRP
#20250
#00230
12-110
GRP
#20260
#00240
GRP
#20270
#00250
GRP
#20280
#00260
GRP
#20290
#00270
GRP
#20300
#00280
GRP
#20310
#00290
GRP
#20320
#00300
GRP
#20330
#00310
GRP
#20340
#00320
GRP
#20350
#00330
GRP
#20360
#00340
GRP
#20370
#00350
GRP
#20380
#00360
GRP
#20390
#00370
GRP
#20400
#00380
GRP
#20410
#00390
GRP
#20420
#00400
GRP
#20430
#00410
12-111
GRP
#20440
#00420
GRP
#20450
#00430
GRP
#20460
#00440
GRP
#20470
#00450
GRP
#20480
#00460
GRP
#20490
#00470
GRP
#20500
#00480
GRP
#20510
#00490
GRP
#20520
#00500
GRP
#20530
#00510
GRP
#20540
#00520
GRP
#20550
#00530
GRP
#20560
#00540
GRP
#20570
#00550
GRP
#20580
#00560
GRP
#20590
#00570
GRP
#20600
#00580
GRP
#20610
#00590
12-112
GRP
#20620
#00600
GRP
#20630
#00610
GRP
#20640
#00620
GRP
#20650
#00630
GRP
#20660
#00640
GRP
#20670
#00650
GRP
#20680
#00660
GRP
#20690
#00670
GRP
#20700
#00680
GRP
#20710
#00690
GRP
#20720
#00700
GRP
#20730
#00710
GRP
#20740
#00720
GRP
#20750
#00730
GRP
#20760
#00740
GRP
#20770
#00750
GRP
#20780
#00760
GRP
#20790
#00770
12-113
GRP
#20800
#00780
GRP
#20810
#00790
GRP
#20820
#00800
GRP
#20830
#00810
GRP
#20840
#00820
GRP
#20850
#00830
GRP
#20860
#00840
GRP
#20870
#00850
GRP
#20880
#00860
GRP
#20890
#00870
GRP
#20900
#00880
GRP
#20910
#00890
GRP
#20920
#00900
GRP
#20930
#00910
GRP
#20940
#00920
GRP
#20950
#00930
GRP
#20960
#00940
GRP
#20970
#00950
12-114
GRP
#20980
#00960
GRP
#20990
#00970
GRP
#21000
#00980
GRP
#21010
#00990
GRP
#21020
#01000
GRP
#21030
#01010
GRP
#21040
#01020
GRP
#21050
#01030
GRP
#21060
#01040
GRP
#21070
#01050
GRP
#21080
#01060
GRP
#21090
#01070
GRP
#21100
#01080
GRP
#21110
#01090
GRP
#21120
#01100
GRP
#21130
#01110
GRP
#21140
#01120
GRP
#21150
#01130
12-115
GRP
#21160
#01140
GRP
#21170
#01150
GRP
#21180
#01160
GRP
#21190
#01170
GRP
#21200
#01180
GRP
#21210
#01190
GRP
#21220
#01200
GRP
#21230
#01210
GRP
#21240
#01220
GRP
#21250
#01230
GRP
#21260
#01240
GRP
#21270
#01250
GRP
#21280
#01260
GRP
#10010
#30030
GRP
#10020
#30040
GRP
#10030
#30050
GRP
#10040
#30060
GRP
#10050
#30070
12-116
GRP
#10060
#30080
GRP
#10070
#30090
GRP
#10080
#30100
GRP
#10090
#30110
GRP
#10100
#30120
GRP
#10110
#30130
GRP
#10120
#30140
GRP
#10130
#30150
GRP
#10140
#30160
GRP
#10150
#30170
GRP
#10160
#30180
GRP
#10170
#30190
GRP
#10180
#30200
GRP
#10190
#30210
GRP
#10200
#30220
GRP
#10210
#30230
GRP
#10220
#30240
GRP
#10230
#30250
12-117
GRP
#10240
#30260
GRP
#10250
#30270
GRP
#10260
#30280
GRP
#10270
#30290
GRP
#10280
#30300
GRP
#10290
#30310
GRP
#10300
#30320
GRP
#10310
#30330
GRP
#10320
#30340
GRP
#10330
#30350
GRP
#10340
#30360
GRP
#10350
#30370
GRP
#10360
#30380
GRP
#10370
#30390
GRP
#10380
#30400
GRP
#10390
#30410
GRP
#10400
#30420
GRP
#10410
#30430
12-118
GRP
#10420
#30440
GRP
#10430
#30450
GRP
#10440
#30460
GRP
#10450
#30470
GRP
#10460
#30480
GRP
#10470
#30490
GRP
#10480
#30500
GRP
#10490
#30510
GRP
#10500
#30520
GRP
#10510
#30530
GRP
#10520
#30540
GRP
#10530
#30550
GRP
#10540
#30560
GRP
#10550
#30570
GRP
#10560
#30580
GRP
#10570
#30590
GRP
#10580
#30600
GRP
#10590
#30610
12-119
GRP
#10600
#30620
GRP
#10610
#30630
GRP
#10620
#30640
GRP
#10630
#30650
GRP
#10640
#30660
GRP
#10650
#30670
GRP
#10660
#30680
GRP
#10670
#30690
GRP
#10680
#30700
GRP
#10690
#30710
GRP
#10700
#30720
GRP
#10710
#30730
GRP
#10720
#30740
GRP
#10730
#30750
GRP
#10740
#30760
GRP
#10750
#30770
GRP
#10760
#30780
GRP
#10770
#30790
12-120
GRP
#10780
#30800
GRP
#10790
#30810
GRP
#10800
#30820
GRP
#10810
#30830
GRP
#10820
#30840
GRP
#10830
#30850
GRP
#10840
#30860
GRP
#10850
#30870
GRP
#10860
#30880
GRP
#10870
#30890
GRP
#10880
#30900
GRP
#10890
#30910
GRP
#10900
#30920
GRP
#10910
#30930
GRP
#10920
#30940
GRP
#10930
#30950
GRP
#10940
#30960
GRP
#10950
#30970
12-121
GRP
#10960
#30980
GRP
#10970
#30990
GRP
#10980
#31000
GRP
#10990
#31010
GRP
#11000
#31020
GRP
#11010
#31030
GRP
#11020
#31040
GRP
#11030
#31050
GRP
#11040
#31060
GRP
#11050
#31070
GRP
#11060
#31080
GRP
#11070
#31090
GRP
#11080
#31100
GRP
#11090
#31110
GRP
#11100
#31120
GRP
#11110
#31130
GRP
#11120
#31140
GRP
#11130
#31150
12-122
GRP
#11140
#31160
GRP
#11150
#31170
GRP
#11160
#31180
GRP
#11170
#31190
GRP
#11180
#31200
GRP
#11190
#31210
GRP
#11200
#31220
GRP
#11210
#31230
GRP
#11220
#31240
GRP
#11230
#31250
GRP
#11240
#31260
GRP
#11250
#31270
GRP
#11260
#31280
12-123
I/O ALARM

System Sec-
tion 9000 00
9001 01
9002 02
9003 03
9004 04
9005 05
9006 06
9007 07
9008 08
9009 09
9010 10
9011 11
9012 12
9013 13
9014 14
9015 15
9016 16
9017 17
9018 18
9019 19
9020 20
9021 21
: :
9063 63
User Section
9064 64
9065 65
9066 66
9067 67
9068 68
9069 69
: :
9127 127
12-124
I/O MESSAGE

System Sec-
tion 00
01
02
03
04
05
06
07
08
09
10
11
12
13
14
15
16
17
18
19
20
21
:
63
User Section
64
65
66
67
68
69
:
127
12-125
13.1 Monitoring I/O Signals
13 How to Monitor Signals
Signal status can be monitored in the windows described in the following sections.
The following example shows one of the I/O monitor windows.
13.1.1 I/O Windows
Operation Explanation
1 Select {IN/OUT} under the
main menu.
2 Select an I/O window to be The following I/O windows can be selected.
monitored.
{UNIVERSAL INPUT} Signals referred with instructions in
JOBs (#0xxxx)
{UNIVERSAL OUTPUT} Signals output from JOBs (#1xxxx)
{EXTERNAL INPUT} Signals input from external devices
(#2xxxx)
{EXTERNAL OUTPUT} Signals output to external devices
(#3xxxx)
{SPECIFIED INPUT} Signals change manipulator operation
mode (#4xxxx)
{SPECIFIED OUTPUT} Signals inform manipulator operation
mode and status (#5xxxx)
{AUX. RELAY} Signals used in concurrent I/O (#7xxxx)
{CONTROL INPUT} Signals refer to hardware status control-
ler (#8xxxx)
{NETWORK INPUT} Signals input from network devices
(#22xxx)
{NETWORK OUTPUT} Signals output to network devices
(#32xxx)
13-1
The window shown below is the example of the Universal Output window, explaining how to
read each signal. (The same applies to the signals on other windows.)
DATA EDIT DISPLAY UTILITY
UNIVERSAL OUTPUT
#1002X 0000_0000
NO. 7654 3210
#1001X 0100_0110 #10020
#1002X 0000_0000 #10021
#1003X 0000_0000
#10022 Each indicates
#1004X 0000_0000
#1005X #10023 status of the
0000_0000
#1006X 0000_0000 #10024
corresponding
#1007X 0000_0000 signal.
#10025
#1008X 0000_0000 (1: ON; 0: OFF)
#1009X 0000_0000 #10026
#1010X 0000_0000 #10027
#1011X 0000_0000
#1012X 0000_0000
#1013X 0000_0000
Main Menu Short Cut
[The UNIVERSAL OUTPUT Window]
If the desired relay number is not displayed on the screen, perform the following operation to
point the cursor to the desired relay number.
1 Point the cursor to the desired Move the cursor to a relay number, and press [SELECT]. Input
relay number. the desired relay number with the numeric keys, then press
[ENTER] to point the cursor to the specified number.
UNIVERSAL OUTPUT
NO. 7654 3210
#1116X 0100_0000
#1117X 0000_0000
#1118X 0000_0000
#1119X 0000_0000
#1120X 0000_0000
#1121X 0000_0000
#1122X 0000_0000
#1123X 0000_0000
#1124X 0000_0000
#1125X 0000_0000
#1126X 0000_0000
#1127X 0000_0000
#1128X 0000_0000
Main Menu Short Cut
The cursor moved to the desired relay number.
13-2
13.2 I/O Status Window
The signal status can be monitored by switching the UNIVERSAL INPUT/OUTPUT, EXTER-
NAL INPUT/OUTPUT, SPECIFIED INPUT/OUTPUT windows to the I/O status window. In this
window, each signal name can be monitored as well.
1 Select {DISPLAY} under the
menu.
2 Select {DETAIL}. The I/O window is switched to the I/O status window.
Select {SIMPLE}. The I/O status window is switched to the I/O window.
3 Press page key . Pressing the page key changes the relay number displayed on
BACK
PAGE
the screen.
Refer to the example below on how the UNIVERSAL OUTPUT
status window displays the relay numbers.
The relay numbers are displayed in the following order each
BACK
time the page key PAGE is pressed:

#1001X #1102X #1127X #1128X (the last page)
#1001X
The relay numbers change in the following reverse order each

BACK
time the [SHIFT] + page key PAGE are pressed:

#1001X #1128X (the last page) #1127X #1002X
#1001X
The window shown below is the example of the Universal Output window, explaining how to
read each signal. (The same applies to the signals on other windows.)
UNIVERSAL OUTPUT
GROUP OG#001 0: DEC. 00: HEX. OUT#0002 #10011
OUT#0001 #10010
OUT#0002 #10011
OUT#0003 #10012
Signal name
OUT#0004 #10013
(Up to 16 one-byte
OUT#0005 #10014
or 8 two-byte
OUT#0006 #10015
characters)
OUT#0007 #10016 Signal status
OUT#0008 #10017 ( : ON; : OFF )
Logic number
(concurrent I/O format)
I/O number
(JOB format)
PAGE
Main Menu Short Cut
[The UNIVERSAL OUTPUT Window]
In the Universal Output status window, the output signal on/off status can be changed.
Once the status is changed, the status is maintained unless the next output instruction of
JOB (DOUT) is executed.
13-3
In the status windows "Universal Input", "External Input" and "External Output", the signal
ON/OFF status can be forcibly changed. Once the status is changed, the status is main-
tained unless the forced change status is cancelled.
The signal name can be registered by performing the following procedure.
1 Select the signal name to be Move the cursor to the desired signal name to be registered, and
registered. press [SELECT] to enable character entry. Enter up to 16 one-
byte (or 8 two-byte) characters.
UNIVERSAL OUTPUT
GROUP OG#001 0: DEC. 00: HEX.
OUT#0001 #10010
OUT#0002 #10011
OUT#0003 #10012
OUT#0004 #10013
OUT#0005 #10014
OUT#0006 #10015
OUT#0007 #10016
OUT#0008 #10017
PAGE
Main Menu Short Cut
Result
KEYBOARD SYMBOL
1 2 3 4 5 6 7 8 9 0 Back
Space
Q W E R T Y U I O P Cancel
A S D F G H J K L CapsLock
OFF
Z X C V B N M Space Enter
Main Menu Short Cut I/F Panel
2 Enter the signal name.

3 Press [ENTER]. The name is registered.
UNIVERSAL OUTPUT
OUT#0001 #10010 UNIV1
OUT#0002 #10011
OUT#0003 #10012
OUT#0004 #10013
OUT#0005 #10014
OUT#0006 #10015
OUT#0007 #10016
OUT#0008 #10017
PAGE
Main Menu Short Cut
13-4
13.2.1 Universal Output Window

The ON-OFF status of the universal output signals can be changed by performing the
following procedure.
1 Select the signal status Move the cursor to the status (" " or " ") of desired signal in
desired to be changed. the Universal Output window.
UNIVERSAL OUTPUT
OUT#0001 #10010
OUT#0002 #10011
OUT#0003 #10012
OUT#0004 #10013
OUT#0005 #10014
OUT#0006 #10015
OUT#0007 #10016
OUT#0008 #10017
PAGE
Main Menu Short Cut
2 Select the signal status. The signal status changes each time the [INTERLOCK]
+[SELECT] keys are pressed.
UNIVERSAL OUTPUT
OUT#0001 #10010
OUT#0002 #10011
OUT#0003 #10012
OUT#0004 #10013
OUT#0005 #10014
OUT#0006 #10015
OUT#0007 #10016
OUT#0008 #10017
PAGE
Main Menu Short Cut
13-5
13.2.2 Universal Input Window

The status of the universal input signals can be changed by performing the following
procedure.
1 Select the signal desired to be
Move the cursor to the small box " " on the row of the signal
changed.
to be changed in the Universal Input window.
UNIVERSAL INPUT
GROUP IG#001 0: DEC 00: HEX.
IN#0001 #00010
IN#0002 #00011
IN#0003 #00012
IN#0004 #00013
IN#0005 #00014
IN#0006 #00015
IN#0007 #00016
IN#0008 #00017
PAGE
Main Menu Short Cut
2 Select the signal status.

The status changes to " SIM " or " "each time the [SELECT]
key is pressed.
UNIVERSAL INPUT
IN#0001 #00010 SIM
IN#0002 #00011
IN#0003 #00012
IN#0004 #00013
IN#0005 #00014
IN#0006 #00015
IN#0007 #00016
IN#0008 #00017
PAGE
Main Menu Short Cut
SIM : status of forced signal output : standard status
13-6
3 Select the signal status. Move the cursor to the status (" " or " ") specified as "SIM".
Only the signal status specified as "SIM" changes each time the
[INTERLOCK] +[SELECT] keys are pressed.
UNIVERSAL INPUT
IN#0001 #00010 SIM
IN#0002 #00011
IN#0003 #00012
IN#0004 #00013
IN#0005 #00014
IN#0006 #00015
IN#0007 #00016
IN#0008 #00017
PAGE
Main Menu Short Cut
If "SIM" (forced signal output) is selected, the user parameter S2C265 enables the contin-
NOTE uous operation of the next instruction even if the signal status does not correspond to the
condition when executing the WAIT instruction that specifies the infinite wait status for the
universal input signal.
(Example) When the following instruction is given in a JOB with "SIM" specified for the
IN#0001.
WAIT IN#0001=ON
1. S4C265=0: infinite wait status until the signal status corresponds to the condition.
2. S4C265=non-0: executes the next instruction after a time specified in S2C265 (in units
of 0.01 msec) has passed even if the signal status does not correspond to the condition.
For example, when the parameter is set to "S4C265=100", the above WAIT instruction
executes the next instruction a second later if IN#0001 is set to "OFF" enabled by selecting
"SIM".
13-7
Perform the following check operation for safety when operating the manipulator with
NOTE "SIM" (forced signal output) is remained selected for the universal input signal.
1. If any of the universal input signal is set to "SIM", the confirmation dialog box
appears when starting a job.
Simulating I/O. Start?
YES NO
Select "YES" when executing the job in the status of the forced signal output.
The job starts running by performing the start operation again after the dialog box
disappears.
Select "NO" when not executing the job in the status of the forced signal output.
Cancel the "SIM" status after the dialog box disappears.
2. If any of the external output signal is set to "SIM", the confirmation dialog box
appears when operating the manipulator (JOG, FWD/BWD operations) with the
Simulating I/O. Operate?
YES NO
Select "YES" when operating the manipulator in the status of the forced signal
output.
The manipulator can be operated after the dialog box disappears.
Select "NO" when not operating the manipulator in the status of the forced signal
output.
Concurrent I/O program reflects the actual signal status regardless of the "SIM" setting
status of the universal input signal.
For example, even if building a circuit in the ladder program as follows, #30010 is not ON
when "SIM" is selected and the signal status set to "ON" (" ") for #00010. (The ON-
OFF status of normal signal is referred in the ladder program.)
STR #00010
OUT #30010
13-8
The "SIM" status of the universal input signal can be collectively cancelled by performing the
following procedure.
1 Select {EDIT} from the Menu
Area.
2 Select {SELECT ALL PHY}.
The forced status ( SIM ) of all the signals is cancelled ( ).
UNIVERSAL INPUT
IN#0001 #00010
IN#0002 #00011
IN#0003 #00012
IN#0004 #00013
IN#0005 #00014
IN#0006 #00015
IN#0007 #00016
IN#0008 #00017
PAGE
Main Menu Short Cut
Cancels the forced status ("SIM") of all the signals.

(IN#0001 to IN#1024)
13-9
13.2.3 Changing Signal Status from the External Output

Window
The status of the external output signals can be changed by performing the following
procedure.
changed.
to be changed in the External Output window.
EXTERNAL OUTPUT
GROUP 128: DEC 80: HEX.
#30010
#30011
#30012
#30013
#30014
#30015
#30016
#30017
PAGE
Main Menu Short Cut

key is pressed.
EXTERNAL OUTPUT
#30010 SIM
#30011
#30012
#30013
#30014
#30015
#30016
#30017
PAGE
Main Menu Short Cut
13-10
EXTERNAL OUTPUT
SIM
PAGE
Main Menu Short Cut
CAUTION
Changing the status of external output signal by specifying "SIM" also
changes the signals output to the actual external devices.
Before forcibly changing the signal status, verify the destination device
of each signal, and check on how the change effects on the device.
Failure to observe this caution may result in injury or damage to equipment.
13-11
YES NO
disappears.
YES NO
Select "YES" when operating the manipulator in the status of the forced signal out-
put.
output.
Concurrent I/O program reflects the actual signal status regardless of the "SIM" setting
status of the external output signal.
For example, even if building a circuit in the ladder program as follows, #30011 is not ON
when "SIM" is selected and the signal status set to "ON" (" ") for #30010. (The ON-
OFF status of normal signal is referred in the ladder program.)
STR #30010
OUT #30011
13-12
13.2.4 Changing Signal Status from the External Input

Window
The status of the external input signals can be changed by performing the following
procedure.
changed.
to be changed in the External Input window.
EXTERNAL INPUT
#20010
#20011
#20012
#20013
#20014
#20015
#20016
#20017
PAGE
Main Menu Short Cut

key is pressed.
EXTERNAL INPUT
#20010 SIM
#20011
#20012
#20013
#20014
#20015
#20016
#20017
PAGE
Main Menu Short Cut
13-13
EXTERNAL INPUT
#20010 SIM
#20011
#20012
#20013
#20014
#20015
#20016
#20017
PAGE
Main Menu Short Cut
CAUTION
When changing the status of external input signal by specifying "SIM",
parameters can be set as follows:
S2C296=0 (Default)
Changes only the internal status (signal indication) if the output status
of signals to the external device has been changed with the concurrent
I/O program due to the change of external input signals.
The output status for external device remains the same condition when
the "SIM" mode was selected.
Restores the original status by cancelling all the "SIM" mode.
S2C296=1
Changes the signals output to the actual external devices if the output
status of signals to the external device has been changed with the con-
current I/O program due to the change of external input signals.
Before forcibly changing the signal status, verify the destination device
of each signal, and check on how the change effects on the device.
Failure to observe this caution may result in injury or damage to equipment.
13-14
YES NO
disappears.
YES NO
Select "YES" when operating the manipulator in the status of the forced signal out-
put.
output.
13-15
13.3 Pseudo Input Signal Window
The status and name of the pseudo input signals can be checked with this window.
main menu
2 Select {PSEUDO INPUT SIG} The pseudo input signal window appears..
JOB FD/CF PSEUDO INPUT SIGNAL

DOUT
MOVE
CF
SYSTEM SECTION
END
#82010
ARC WELDING SETUP #82011
#82012
#82013
VARIABLE DISPLAY SETUP #82014 PROHIBIT IO
B001 Aa #82015 CMO REMOTE SEL
#82016 PROHIBIT PP/PANEL
IN/OUT #82017
In Out
ROBOT
SYSTEM INFO
PAGE
Main Menu Short Cut
3 BACK
The system section (#82010-#82087) and the user section
Press the page key PAGE . (#82090-#82127) are changed alternately with the page key
BACK
PAGE
.
13-16
The signals can be turned ON/OFF in the pseudo input signal window in the management
mode.
1 Select the signal to be Move the cursor to the signal status to be changed. The signal
changed. status is indicated as either or .
PSEUDO INPUT SIGNAL

SYSTEM SECTION
#82010
#82011
#82012
#82013
#82014 PROHIBIT IO
#82015 CMO REMOTE SEL
#82016 PROHIBIT PP/PANEL
#82017
Main Menu Short Cut
2 Select the signal status. The signal status changes each time the [INTERLOCK]
+[SELECT] keys are pressed. ( : ON; : OFF)
13-17
Signal name can be registered in the user section of the pseudo input signal window in the
management mode.
changed. press [SELECT] to enable character entry. Enter up to 8 one-byte
characters.
PSEUDO INPUT SIGNAL

USER SECTION
#82100
#82101
#82102
#82103
#82104
#82105
#82106
#82107
Main Menu Short Cut
Result
KEYBOARD SYMBOL
1 2 3 4 5 6 7 8 9 0 Back
Space
OFF
2 Input the signal name.

3 Press [ENTER]. Input the signal name and press [ENTER]. The name is regis-
tered.
PSEUDO INPUT SIGNAL

USER SECTION
#82100 WORK PROHIBIT
#82101
#82102
#82103
#82104
#82105
#82106
#82107
Main Menu Short Cut
13-18
13.4 Register Window
The register can be checked in the register window.
main menu.
2 Select {REGISTER}. The register window appears.
REGISTER
NO. SET VALUE NAME
M000 0 0000_0000_0000_0000
M001 1 0000_0000_0000_0001
M002 2 0000_0000_0000_0010
M003 4 0000_0000_0000_0100
M004 8 0000_0000_0000_1000
M005 255 0000_0000_1111_1111
M006 4095 0000_1111_1111_1111
M007 65535 1111_1111_1111_1111
M008 0 0000_0000_0000_0000
M009 0 0000_0000_0000_0000
M010 0 0000_0000_0000_0000
M011 0 0000_0000_0000_0000
M012 0 0000_0000_0000_0000
Main Menu Short Cut
Decimal Binary Signal name

(Up to 16 one-byte/8 two-byte characters)
3 Move the cursor to the desired When the desired register number is not displayed, move the cur-
register number. sor in the following manner: move the cursor to NO. and press
[SELECT]; enter the desired register number using the numeric
keys, then press [ENTER].
The cursor moves to the specified register number.
REGISTER
NO. SET VALUE NAME
M043 0 0000_0000_0000_0000
M044 0 0000_0000_0000_0000
M045 0 0000_0000_0000_0000
M046 0 0000_0000_0000_0000
M047 0 0000_0000_0000_0000
M048 0 0000_0000_0000_0000
M049 0 0000_0000_0000_0000
M050 0 0000_0000_0000_0000
M051 0 0000_0000_0000_0000
M052 0 0000_0000_0000_0000
M053 0 0000_0000_0000_0000
M054 0 0000_0000_0000_0000
M055 0 0000_0000_0000_0000
Main Menu Short Cut
The cursor moves to the desired register number.
13-19
A register can be set in the management mode.
1 Select the register data to be Move the cursor to the data (decimal or binary) of the register
set. number to be set in the register window, and press [SELECT].
-When the decimal data is selected, enter a decimal value.
-When the binary data is selected, enter a binary value.
REGISTER
NO. SET VALUE NAME
M000 0 0000_0000_0000_0000
M001 1 0000_0000_0000_0001
M002 2 0000_0000_0000_0010
M003 4 0000_0000_0000_0100
M004 8 0000_0000_0000_1000
M005 255 0000_0000_1111_1111
M006 4095 0000_1111_1111_1111
M007 65535 1111_1111_1111_1111
M008 0 0000_0000_0000_0000
M009 0 0000_0000_0000_0000
M010 0 0000_0000_0000_0000
M011 0 0000_0000_0000_0000
M012 0 0000_0000_0000_0000
Main Menu Short Cut
2 Enter a desired numerical When a decimal value is selected, enter decimal value data using
value. the numeric keys.
M005 127 Enter data with the numeric keys
When a binary value is selected, move the cursor to a binary data

to be set in the input line, and press [SELECT]. Each time
[SELECT] is pressed, 0 and 1 are displayed alternately.
Also, 0 and 1 can be entered using the NUMBERKEYS.
M005 255 0 0 0 0 0 0 0 0
0 1 1 1 1 1 1 1
Change values (1 0) with the SELECT key
3 Press [ENTER]. The entered numerical value is set at the cursor position.
REGISTER
NO. SET VALUE NAME
M000 0 0000_0000_0000_0000
M001 1 0000_0000_0000_0001
M002 2 0000_0000_0000_0010
M003 4 0000_0000_0000_0100
M004 8 0000_0000_0000_1000
M005 127 0000_0000_0111_1111
M006 4095 0000_1111_1111_1111
M007 65535 1111_1111_1111_1111
M008 0 0000_0000_0000_0000
M009 0 0000_0000_0000_0000
M010 0 0000_0000_0000_0000
M011 0 0000_0000_0000_0000
M012 0 0000_0000_0000_0000
Main Menu Short Cut
13-20
The registers used as current value of TMR/CNT instruction in the ladder program cannot
NOTE be set.
<Example of Ladder Program>

STR #70010
TMR M010, M011 <-- M010 (current value) cannot be set in the register window;
OUT #70011 M011 (current value) can be set in the register window.
STR #70020
STR #70021
CNT #M020, M021 <-- M020 (current value) cannot be set in the register window;
OUT #70021 M021 (current value) can be set in the register window.
:
The signal name can be registered by performing the following procedure.
registered. press [SELECT] to enable character entry. Enter up to 16 one-
byte (or 8 two-byte) characters.
REGISTER
NO. SET VALUE NAME
M238 0 0000_0000_0000_0000
M239 0 0000_0000_0000_0000
M240 0 0000_0000_0000_0000
M241 0 0000_0000_0000_0000
M242 0 0000_0000_0000_0000
M243 0 0000_0000_0000_0000
M244 0 0000_0000_0000_0000
M245 0 0000_0000_0000_0000
M246 0 0000_0000_0000_0000
M247 0 0000_0000_0000_0000
M248 0 0000_0000_0000_0000
M249 0 0000_0000_0000_0000
M250 30 0000_0000_0001_1110
Main Menu Short Cut
Result
KEYBOARD SYMBOL
1 2 3 4 5 6 7 8 9 0 Back
Space
OFF
2 Enter the signal name.
13-21
3 Press [ENTER]. The name is registered.
REGISTER
NO. SET VALUE NAME
M238 0 0000_0000_0000_0000
M239 0 0000_0000_0000_0000
M240 0 0000_0000_0000_0000
M241 0 0000_0000_0000_0000
M242 0 0000_0000_0000_0000
M243 0 0000_0000_0000_0000
M244 0 0000_0000_0000_0000
M245 0 0000_0000_0000_0000
M246 0 0000_0000_0000_0000
M247 0 0000_0000_0000_0000
M248 0 0000_0000_0000_0000
M249 0 0000_0000_0000_0000
M250 30 0000_0000_0001_1110 ARC RES ERR
Main Menu Short Cut
13-22
13.5 Servo Power Status Window
13.5 Servo Power Status Window
The status of ON_EN signals connected to each power ON unit and servo power supply of
each control group can be checked in the Servo Power Status window.
main menu.
2 Select {SERVO POWER STA- The servo power status window appears.
TUS}.
SERVO POWER STATUS
ON-EN SIGNAL SERVO ON

R1
R2
S1
S2
S3 2
S4
1
Main Menu Short Cut
ON_EN SIGNAL
Displays the status of Power On unit ON_EN signal that each
control group is connected.
: Open (OFF) status
The servo power supply is shut down.
: Close (ON) status
When the servo ON lamp is lit, the servo power supply is
turned ON.
SERVO ON
Displays the status (specific output 50180 to 50197) of servo
power supply of each control group.
: Servo power supply shut down
: Servo power ON completed
13-23
13.6 Analog Output Window
13.6 Analog Output Window
The current settings can be checked in the Analog Output window.
ANALOG OUTPUT
TERMINAL AOUT1 AOUT2 AOUT3 AOUT4

OUTPUT V : -14.00 -14.00 -10.00 -14.00
BASIC V : 0.00 0.00 0.00 0.00
TRAIT : SP RAT SP RAT SP RAT SP RAT
OFFSET V : 0.00 0.00 0.00 0.00
BASIC SPD : 1200.0 1200.0 1200.0 1200.0
ROBOT : R1 R2 R3 R4
Main Menu Short Cut
TERMINAL
The general-purpose analog output ports are displayed.
OUTPUT (V)
The current output voltage is displayed.
BASIC (V)
The basic voltage used for executing the analog output corresponding to speed is displayed.
The value can be overwritten by setting a new value using ARATION instruction.
TRAIT
The current output characteristic of output port is displayed.
SP RAT: Executing analog output corresponding to speed.
STATIC: The output is fixed.
OFFSET (V)
The offset voltage used for executing the analog output corresponding to speed is
displayed.
BASIC SPD
The basic speed used for executing the analog output corresponding to speed is displayed.
ROBOT
The manipulator No. for the analog output corresponding to speed is displayed.
main menu.
2 Select {ANALOG OUTPUT}. The analog output window appears.
The window for the output terminal AOUT1 to 4, AOUT 5 to 8, and
BACK
AOUT 9 to 12 can be switched by pressing the page key PAGE

.
13-24
13.7 I/O Messages and I/O Alarms
13.7.1 Registering the User Section

User section I/O alarms and I/O messages can be displayed or registered in the management
mode by the following procedures:
main menu.
2 Select {IO ALARM} or {IO The user section or the system section under the selected sub-
MESSAGE}. menu (I/O Alarm or I/O Message) is displayed.
I/O MESSAGE (User)
NO. NAME
0001: WIRE SHORTAGE
0002:
0003:
0004: RESTARTING FOR WIRE
0005:
0006:
0007:
0008:
Main Menu Short Cut
3 BACK
TO change between the user section and the system section, use
Press the page key PAGE
. BACK
the page key PAGE .
I/O MESSAGE (User)
NO. NAME
0001:
0002: WIRE STICKING
0003: GAS SHORTAGE
0004:
0005:
0006:
0007:
0008:
Main Menu Short Cut
13-25
User section I/O alarms and I/O messages can be displayed or registered by the following
procedures. However, the system I/O alarms and I/O messages cannot be edited.
1 Select the name to be Move the cursor to the name to be changed in either the I/O
changed. Alarm (User Section) window or the I/O Message (User Section)
window, and press [SELECT]. The character input status window
appears. Enter up to 32 one-byte characters for the Alarm and
Message windows respectively. Up to 8 messages can be regis-
tered for each window.
Result
KEYBOARD SYMBOL
1 2 3 4 5 6 7 8 9 0 Back
Space
OFF
2 Input the I/O Alarm Name or

the I/O Message Name.
3 Press [ENTER]. Enter the name in the input line, and press [ENTER]. The name
is displayed.
I/O MESSAGE (USER)
NO. NAME
0001: WIRE SHORTAGE
0002: ARC SHORTAGE

0003:
0004: RESTARTING FOR WIRE
0005:
0006:
0007:
0008:
Main Menu Short Cut
13-26
13.8 Ladder Program Window
This window allows operators to check the ON-OFF status of signals and register values
included in the ladder program.
1 Set the security mode to the management mode.

(The {LADDER PROGRAM} menu is not displayed in the opera-
tion/edit mode.)
2 Select {IN/OUT} from the main
menu.
3 Select {LADDER PROGRAM}. The ladder program window appears.
SYSTEM LADDER
REST 8886 STEP
0000 0000 STR #21270
0001 AND-NOT #50780
0002 AND-NOT #50782
0003 AND-NOT #70067
0004 OUT #70042
0005 0001 STR #21271
0006 AND-NOT #50780
0007 AND-NOT #50781
0008 AND-NOT #70067
0009 OUT #70043
0010 0002 STR #21272
0011 OR #70154
0012 AND-NOT #70067
0013 OUT #70041
0014 0003 STR #21273
Main Menu Short Cut
Ladder program Monitor display
The programming pendant will not display the monitor indication while the ladder program
NOTE is edited. The monitor indication restarts if compiling the edited ladder program succeeds
and ends with a normal termination.
Setting of whether to display the monitor indication in the ladder program window can be
specified with the following parameters.
S2C304=1 (Default)
Enables monitor indication in the ladder program window.
S2C304=0
Disables monitor indication in the ladder program window.
13-27
The monitor indication may be displayed differently depending on the instruction types of lad-
der program.
Instruction Description
1 STR " " signifies the ON status of operand relay number signal.
OR
" " signifies the OFF status of operand relay number signal.
AND
OUT
PLS <Example> STR #20010 : #20010=ON-status
PLF
2 STR-NOT " " signifies the OFF status of operand relay number signal.
OR-NOT
AND-NOT " " signifies the ON status of operand relay number signal.
<Example> STR-NOT #20010 : #20010=OFF-status
3 GSTR Indicates the 8 bit data value from the operand relay number in the decimal/hexa-
GOUT decimal number. (The value in parentheses indicates the hexadecimal number.)
<Example> GOUT #00010 128 (80H)

Hexadecimal
Decimal
In this case, #00010 to #00016=OFF-status, and #00017=ON-status.
4 CNT Indicates the register value (16 bits) of the current value operand (the 1st operand)
TMR in the decimal/hexadecimal number. (The value in parentheses indicates the
hexadecimal number.)
<Example> TMR M010, M011 10 (000aH)

Hexadecimal
Decimal
In this case, setting is M010=10.
5 ADD Indicates the register value (16 bits) of the calculation result operand (the 3rd oper-
SUB and) in the decimal/hexadecimal number. (The value in parentheses indicates the
DIV hexadecimal number.)
MOD
<Example> ADD M020, M021, M022 100 (0064H)
Hexadecimal
Decimal
6 MUL Indicates the register value (16 bits) of the calculation result operand (the 3rd oper-
and) in the decimal/hexadecimal number. (The value in parentheses indicates the
hexadecimal number.)
However, if the calculation result exceeds 16 bits, the register value will be indi-
cated in 32-bit value in the decimal/hexadecimal number.
<Example> MUL M030, M031, M032 65536 (00010000H)

Hexadecimal
Decimal
13-28
Instruction Description
7 WAND Indicates the value of the register/word-type relay/byte type relay of the calculation
WOR result operand (the 3rd operand) in the decimal/hexadecimal number. (The value
WXOR in parentheses indicates the hexadecimal number.)
SHL
SHR Register, word-type relay: 16 bits
ROL Byte-type relay: 8 bits
ROR
<Example> SHL M040, 4, M041 4096 (1000H)
Hexadecimal
Decimal
8 WNOT Indicates the value of the register/word-type relay/byte type relay of the calculation
MOV result operand (the 2nd operand) in the decimal/hexadecimal number. (The value
BIN in parentheses indicates the hexadecimal number.)
BCD
Register, word-type relay: 16 bits
Byte-type relay: 8 bits
<Example> MOV 255, #70010 255 (ff H)

Hexadecimal
Decimal
In this case, #70010 to #70017=ON-status.
9 AND-STR The monitor indication will not be displayed.

OR-STR
END
(PART)
(NOP)
13-29
14.1 Flow of Data by Ladder Programs
14 Editing Ladder Programs
14.1 Flow of Data by Ladder Programs
Flow of data in editing, storage, and execution areas by operation of ladder program is shown
below.
NCP01 BOARD
EDITING AREA INTERMEDIATE EXECUTION

CODE AREA PROGRAM
EXTERNAL
CONTROL
MEMORY UNIT SAVE SAVE
POWER ON IO
SYSTEM STORAGE
SECTION PROCESSING
COMPILE MEMORY WORK
WORK
MEMORY MEMORY
LOAD
LADDER PROGRAM EDITING

DISPLAY
REMOTE TEACH
PLAY START HOLD
JOB EDIT DISPLAY UTILITY
JOB CONTENT
JOB NAME TEST01
Main Menu ShortCut !Turn on servo power
BACK
PAGE AREA
SHORTCUT SERVO !?
ON
AREA
SERVO ON
X X
S S X X
R R
HIGH SPD
Y Y
L L Y Y
B B
Z Z
U U Z Z
T T
7 8 9 SHIFT
4 5 6
APPLICATION1 2 3 DELETE INSERT
BACK 0 . -
SPLACE MODIFYENTER
MOTOMAN
Only the user ladder program can be edited. The system ladder program cannot be
NOTE edited.
When the system ladder program is changed, the ladder program from the external mem-
ory unit cannot be loaded.
If control power is shut down while the ladder program is being edited, the edited ladder
program is lost. The intact program remains in the execution area.
During editing of ladder programs, EDITING is displayed on the upper right of the user
section window. This indication appears only when the program in the editing area and
that in the execution area do not match. Nothing is displayed after compilation of cancel-
lation of editing when the programs in the two areas match.
14-1
14.2 Editing by Mnemonic and Ladder Editor Program
14.2 Editing by Mnemonic and Ladder Editor Program
The editing operations for ladder programs are two ways as follows.
1. Editing by Mnemonic Codes
Ladder programs can be edited in mnemonic codes as shown below.
0000 0000 STR #20010

0001 OUT #70010
0002 0001 STR #20012
0003 OUT #40030
0004 0002 STR #20013
0005 OUT #40014
0006 0003 STR #20013
0007 OUT #70030
0008 0004 STR #20021
0009 OUT #70031
2. Ladder Editor Program (Optional Function)

Ladder programs can be edited with the image of ladders as shown in the window
below.
DATA EDIT DISPLAY UTILITY L
LADDER VIEW MAKER MODE USER LADDER STEPS:529 LINE 0000/0262

0000 #20010 EDIT
#70010
OFF
0001 #20012 #40030 DISPLAY
0002 #20013 #40014

OFF
OPTION
0003 #20020 #70030 OFF
MONITORING
0004 #20021 #70031
OFF
0005 #20022 #70046 HELP
0006 #20023 OFF

#70045
0007 #20026 #40047

0008 #20027 #40600
0009 #20084 #70101
Main Menu ShortCut
14-2
14.3 Mnemonic Editing Window
14.3.1 Basic Operation

Ladder program is protected so that it cannot be easily changed. The following operations are
authorized only to those who can input a user ID No. (security: management mode).

main menu
2 Select {LADDER PROGRAM} The C.I/O user section is displayed.

USER LADDER
REST 832
0000 0000 STR #20010
Address 0001 OUT #70010 Instruction
Area 0002 0001 STR #20012 Area
0003 OUT #40090
0004 0002 STR #20013
Line No. 0005 OUT #40014
0006 0003 STR #20014
Block No.
0007 OUT #70026
Main Menu ShortCut
To confirm the system ladder program, press the PAGE KEY

BACK
PAGE
, or select [DISP] [SYSTEM LADDER] under the menu.
SYSTEM LADDER
USER LADDER
USER LADDER
REST 832
0000 0000 STR #20010
0001 OUT #70010
0002 0001 STR #20012
0003 OUT #40090
0004 0002 STR #20013
0005 OUT #40014
0006 0003 STR #20014
0007 OUT #70026
Main Menu ShortCut
3 Edit Operation For each editing operations, see " 14.3.2 Editing Operation " on
the following pages. The system ladder program cannot be
edited.
4 Select {DATA} under the menu
5 Select {COMPILE}
14-3
6 Select YES The edited ladder program is checked for syntax error. If no error
is found, the new program is written into the execution area to
run. If any error is found in the edited ladder program, the errone-
ous step is identified. In this case, the program stored in the exe-
cution area remains unchanged.
CANCEL EDIT
COMPILE
REST 832
0000 0000 STR #20010
0001 OUT #70010
0002 0001 STR #20012
0003 OUT #40090
0004 0002 STR #20013
0005 OUT #40014
0006 0003 STR #20014
0007 OUT #70026
Main Menu ShortCut
NOTE The cursor moves up/down by line each time the up/down cursor key is pressed.
Pressing [SHIFT] + up/down cursor key moves the cursor up/down by five lines at a time.
14-4
14.3.2 Editing Operation

The editing operation is divided into the instruction registration operation (adding, changing,
and deleting) and the operand edit operation.
Inserting Instruction
L
1 Move the cursor to the

0000 0000 STR #20010
address area The line before 0001 OUT #70010
the instruction 0002 0001 STR #20012
to be added 0003 OUT #40090
0004 0002 STR #20013
2 Select the line before the line The instruction list dialog box is displayed. Move the cursor to the
you wish to add instruction list dialog, and the cursor in the address area becomes
underlined.
USER LADDER
REST 832
0000 0000 STR #20010
0001 STR
OUT #70010
0002 0001 STR-NOT
STR #20012
0003 AND
OUT #40090
0004 0002 STR
AND-NOT #20013
0005 OUT
OR #40014
0006 0003 STR
OR-NOT #20014
0007 OUT #70026
Main Menu ShortCut
14-5
3 Select the instruction to be Move the cursor to the input buffer line instruction.
inserted
=> STR-NOT #00010
Main Menu ShortCut
When there are more than two kinds of operand instructions,

move the cursor to the instruction and press [SELECT]. A
detailed screen is displayed. When changing numeric data, move
the cursor to the data to be corrected and press the [SHIFT] +
[CURSOR KEY] simultaneously. The numeric data then
increases and decreases.
=> STR-NOT #00010
Main Menu ShortCut
To directly input the numeric value, press [SELECT]. The input

line is displayed, then input the data using the [NUMBER KEY]
and press [ENTER].
=> STR-NOT #00010
> #
Main Menu ShortCut
Instructions with Two or More Kinds of Operands

The input line is displayed. Input the data using the [NUMBER
KEY] and press [ENTER].
Instructions with Two or More Kinds of Operands
When changing the type of operand, move the cursor to the
operand and press [SELECT] to select the operand type.
LADDER DETAIL EDIT
REST 832
CURRENT VALUE REGISTER M090

SET VALUE REGISTER M120
KIND DATA
L
=> TMR M090, M120
Main Menu ShortCut
CURRENT VALUE REGISTER M090

SET VALUE REGISTER M120
DECIMAL
Move the cursor to the operand data and press [SELECT] to

change the operand.
If the type of operand and data are changed, press [ENTER]. The
ladder detail edit window closes, and the ladder program window
is displayed.
4 Press [ADD]
14-6
5 Press [ENTER] The instruction indicated in the input buffer line is added.
When adding an instruction just before the END instruction, do
not press [ADD]. If there is a change, press [SELECT] in the
instruction area, and repeat the numeric input operation.
USER LADDER
REST 832
0000 0000 STR #20010
0001 OUT #70010
0002 0001 STR-NOT #70100
0003 STR #20012
0004 OUT #40090
0005 0002 STR #20013
0006 OUT #40014
0007 0003 STR #20014
Main Menu ShortCut
14-7
Changing Instructions
L
1 Move the cursor to the 0001 OUT #70010

address area The instruction 0002 0001 STR #71000
line to be changed 0003 OUT #20012
0004 STR #40090
0002 #20013
2 Select the line to be changed The instruction select dialog box is displayed. The cursor moves
to the instruction list, and the cursor in the address area is under-
lined.
USER LADDER
REST 832
0000 0000 STR #20010
0001 STR
OUT #70010
0002 0001 STR-NOT
STR #20012
0003 AND
OUT #40090
0004 0002 STR
AND-NOT #20013
0005 OUT
OR #40014
0006 0003 STR
OR-NOT #20014
0007 OUT #70026
Main Menu ShortCut
3 Select the instruction to be Move the cursor to the input buffer line instruction.
changed
=> STR-NOT #00010
Main Menu ShortCut
When there are more than two kinds of operand instructions,

move the cursor to the instruction and press [SELECT]. A
CURSOR simultaneously. The numeric data then increases and
decreases.
=> STR-NOT #00010
Main Menu ShortCut

line appears. Input the data using the NUMBER KEY and press
[ENTER].
=> STR-NOT #20012

> #
Main Menu ShortCut
4 Press [MODIFY]
14-8
5 Press [ENTER] The instruction displayed in the input buffer line is changed.
USER LADDER
REST 832
0000 0000 STR #20010
0001 OUT #70010
0002 0001 STR-NOT #20012
0003 OUT #40090
0004 0002 STR #20013
0005 OUT #40014
0006 0003 STR #20014
0007 OUT #70026
Main Menu ShortCut
14-9
Delete Instructions
1 Move the cursor to the

address area
2 Move the cursor to the line to

be deleted
3 Press [DELETE]
4 Press [ENTER] The cursor line instruction is deleted.

0001 OUT #70010
The instruction 0002 0001 STR #20012
line to be deleted 0003 OUT #40090
0001 OUT #70010

The instruction 0002 0001 STR #20012
moves up one step 0003 0002 OUT #40090
14-10
Editing Operands
1 Move the cursor to the instruc-

tion area L
USER LADDER
REST 832
0000 0000 STR #20010
0001 OUT #70010
0002 0001 STR #20012
0003 OUT #40090
0004 0002 STR #20013
0005 OUT #40014
0006 0003 STR #20014
0007 OUT #70026
2 Select the line of the operand Move the cursor to the input buffer line instruction.
to be edited
USER LADDER
REST 832
0000 0000 STR #20010
0001 OUT #70010
0002 0001 STR #20012
0003 OUT #40090
0004 0002 STR #20013
0005 OUT #40014
0006 0003 STR #20014
0007 OUT #70026
=> STR #20012
Main Menu ShortCut
3 Edit Operation When there are more than two kinds of operand instructions,
move the cursor in the instruction to and press [SELECT]. A
CURSOR simultaneously. The numeric data then increases and
decreases.
=> STR #20012
Main Menu ShortCut

line appears. Input the data using the NUMBER KEY and press
[ENTER].
4 Press [ENTER] The cursor line operand is changed.

USER LADDER
REST 832
0000 0000 STR #20010
0001 OUT #70010
0002 0001 STR #70100
0003 OUT #40090
0004 0002 STR #20013
0005 OUT #40014
0006 0003 STR #20014
0007 OUT #70026
14-11
Cancelling Editing
Use the following steps to cancel editing during the ladder program editing and to return to the
preceding program.
2 Select {CANCEL EDIT}
3 Select YES
CANCEL EDIT
COMPILE
REST 832
0000 0000 STR #20010
0001 OUT #70010
0002 0001 STR #20012
0003 OUT #40090
0004 0002 STR #20013
0005 OUT #40014
0006 0003 STR #20014
0007 OUT #70026
Main Menu ShortCut
The confirmation dialog box is displayed. When YES is

selected, the program returns to the ladder program (executing
program) before editing. When NO is selected, the cancel edit
operation is cancelled, and the ladder program on the edit is dis-
played.
14-12
14.3.3 Compile
Use the following steps to compile the ladder program after editing.
2 Select {COMPILE} The ladder program starts compiling.

The edited ladder program is checked for syntax error. If no error
is found, the new program is written into the execution area to
run.
If any error is found in the edited ladder program, the erroneous
step is identified. In this case, the program stored in the execu-
tion area remains unchanged.
CANCEL EDIT
COMPILE
REST 832
0000 0000 STR #20010
0001 OUT #70010
0002 0001 STR #20012
0003 OUT #40090
0004 0002 STR #20013
0005 OUT #40014
0006 0003 STR #20014
0007 OUT #70026
Main Menu ShortCut
NOTE After completing the compilation, the current values of the TMR/CNT instructions in the
register are restored to the set values.
14-13
14.3.4 Search
The search function can be used for the edit and confirmation.
Search can be executed when the cursor is either in the address area, or the instruction area
of the user ladder window or the system ladder window.

main menu
2 Select {LADDER PROGRAM} The user ladder window or the system ladder window appears.
BACK
Press the PAGE KEY PAGE to switch the window.
3 Select {EDIT} under the menu The pull down menu appears.
TOP LINE
USER LADDER
END LINE
REST 832
SEARCH RELAY NO.
0000 0000 STR #20010
SEARCH LINE NO.
0001 OUT #70010
SEARCH0001
0002 STR
BLOCK NO. #20012
0003 OUT #40090
0004 0002 STR #20013
0005 OUT #40014
0006 0003 STR #20014
0007 OUT #70026
Main Menu ShortCut
4 Select a desired search from

the pull down menu
The search is an operation to move the cursor to a specified line or relay No. line in the ladder
window. This allows to find out a target position at once without using the cursor.
14-14
Top Line, End Line

This is the operation to move the cursor to the first line or the last line in the current window.
1 Select TOP LINE or END The cursor moves to TOP LINE or END LINE of the window,
LINE under the pull down then the selected line is displayed.
menu
USER LADDER
REST 832
0000 0000 STR #20010
0001 OUT #70010
0002 0001 STR #20012
0003 OUT #40090
0004 0002 STR #20013
0005 OUT #40014
0006 0003 STR #20014
0007 OUT #70026
Main Menu ShortCut
Search for Line No. and Block No.

This is the operation to move the cursor to a line or a block in the current window.
1 Select SEARCH LINE NO. or Numbers can be input.

SEARCH BLOCK NO. under
the pull down menu
2 Input a line No. or block No.

using the NUMBER KEYS
3 Press [ENTER] The cursor moves to the entered line No. or block No., then the
selected line or block is displayed.
USER LADDER
REST 832
0012 0006 STR #20017
0013 OUT #02047
0014 0007 STR #20020
0015 OUT #70030
0016 0008 STR #20021
0017 OUT #70031
0018 0009 STR #20022
0019 OUT #70046
Main Menu ShortCut
14-15
Search for Relay No. and Register No.

This is the operation to move the cursor to a relay No. or register line in the current window.
1 Select SEARCH RELAY NO. Numbers can be input.

or SEARCH REGISTER NO.
under the pull down menu
2 Input a desired relay No. or

register No. using the NUM-
BER KEYS
3 Press [ENTER] The cursor moves to the entered relay No. or register No. and the
selected relay or register is displayed.
USER LADDER
SEARCHING REST 832

0027 OUT #71001
0028 0014 STR #12045
0029 OUT #41083
0030 0015 STR #50070
0031 OUT #30010
0032 0016 STR #50073
0033 OUT #30011
0034 0017 STR #50020
Main Menu ShortCut
While searching, SEARCH is displayed in the screen.
4 Continues searching with the In search status, forward and backward searching can be exe-
cursor cuted by [ ] and [ ] cursors.
BACK
Press the PAGE KEY to switch the window between the

PAGE
user ladder and the system ladder to continue searching.

To end the search, press [Cancel] or move the cursor to the
address area or the instruction area by using [ ] and [ ] cur-
sors. The search status is canceled and the indication of
SEARCH disappears.
SYSTEM LADDER
REST 832
0069 AND #70022
0070 STR #70021
0071 AND-NOT #50076
0072 AND-NOT #50070
0073 OR-STR
0074 OUT #70021
0075 0015 STR #51010
0076 AND-NOT #70021
Main Menu ShortCut
14-16
15.1 Clearing the Universal Output Signals
15 Clearing Signals
By setting parameters, the signal status can be automatically cleared when the power is
turned ON or the mode is changed.
Clearing Signals when Powering ON

Set the parameter S2C187 to specify whether to collectively clear the universal output signals
(1024 points) when powering ON, or to hold the signals in the statuses when powering OFF.
Parameter Signal Setting Value
S2C187 #10010 - #11287 0: Hold; 1: Clear

(Collective setting)
If S2C187 is set to "1", all the
statuses of the universal output
signals become OFF when the
power is turned ON.
Clearing Signals when Changing the Teach/Play Mode

Set the parameters S4C032 - S4C039 to specify whether to clear the universal output signals
when changing modes, or to hold the signal statuses. (Every 8 points; 0: hold; 1: clear)
S4C032 d00: #10010 - #10017, d01: #10020 - #10027 Bit specified in every 8 points
d02: #10030 - #10037, d03: #10040 - #10047 0: Hold; 1: Clear
d04: #10050 - #10057, d05: #10060 - #10067
d06: #10070 - #10077, d07: #10080 - #10087 The universal output signals
d08: #10090 - #10097, d09: #10100 - #10107 whose specified bit is set to "1"
d10: #10110 - #10117, d11: #10120 - #10127 will be in the "OFF" status when
d12: #10130 - #10137, d13: #10140 - #10147 the mode is changed.
d14: #10150 - #10157, d15: #10160 - #10167
S4C033 d00: #10170 - #10177, d01: #10180 - #10187

d02: #10190 - #10197, d03: #10200 - #10207
d04: #10210 - #10217, d05: #10220 - #10227
d06: #10230 - #10237, d07: #10240 - #10247
d08: #10250 - #10257, d09: #10260 - #10267
d10: #10270 - #10277, d11: #10280 - #10287
d12: #10290 - #10297, d13: #10300 - #10307
d14: #10310 - #10317, d15: #10320 - #10327
15-1
d02: #10350 - #10357, d03: #10360 - #10367 0: Hold; 1: Clear
d04: #10370 - #10377, d05: #10380 - #10387
d06: #10390 - #10397, d07: #10400 - #10407
d08: #10410 - #10417, d09: #10420 - #10427 The universal output signals
d10: #10430 - #10437, d11: #10440 - #10447 whose specified bit is set to "1"
d12: #10450 - #10457, d13: #10460 - #10467 will be in the "OFF" status when
d14: #10470 - #10477, d15: #10480 - #10487 the mode is changed.
S4C035 d00: #10490 - #10497, d01: #10500 - #10507

d02: #10510 - #10517, d03: #10520 - #10527
d04: #10530 - #10537, d05: #10540 - #10547
d06: #10550 - #10557, d07: #10560 - #10567
d08: #10570 - #10577, d09: #10580 - #10587
d10: #10590 - #10597, d11: #10600 - #10607
d12: #10610 - #10617, d13: #10620 - #10627
d14: #10630 - #10637, d15: #10640 - #10647
S4C036 d00: #10650 - #10657, d01: #10660 - #10667

d02: #10670 - #10677, d03: #10680 - #10687
d04: #10690 - #10697, d05: #10700 - #10707
d06: #10710 - #10717, d07: #10720 - #10727
d08: #10730 - #10737, d09: #10740 - #10747
d10: #10750 - #10757, d11: #10760 - #10767
d12: #10770 - #10777, d13: #10780 - #10787
d14: #10790 - #10797, d15: #10800 - #10807
S4C037 d00: #10810 - #10817, d01: #10820 - #10827

d02: #10830 - #10837, d03: #10840 - #10847
d04: #10850 - #10857, d05: #10860 - #10867
d06: #10870 - #10877, d07: #10880 - #10887
d08: #10890 - #10897, d09: #10900 - #10907
d10: #10910 - #10917, d11: #10920 - #10927
d12: #10930 - #10937, d13: #10940 - #10947
d14: #10950 - #10957, d15: #10960 - #10967
S4C038 d00: #10970 - #10977, d01: #10980 - #10987

d02: #10990 - #10997, d03: #11000 - #11007
d04: #11010 - #11017, d05: #11020 - #11027
d06: #11030 - #11037, d07: #11040 - #11047
d08: #11050 - #11057, d09: #11060 - #11067
d10: #11070 - #11077, d11: #11080 - #11087
d12: #11090 - #11097, d13: #11100 - #11107
d14: #11110 - #11117, d15: #11120 - #11127
S4C039 d00: #11130 - #11137, d01: #11140 - #11147

d02: #11150 - #11157, d03: #11160 - #11167
d04: #11170 - #11177, d05: #11180 - #11187
d06: #11190 - #11197, d07: #11200 - #11207
d08: #11210 - #11217, d09: #11220 - #11227
d10: #11230 - #11237, d11: #11240 - #11247
d12: #11250 - #11257, d13: #11260 - #11267
d14: #11270 - #11277, d15: #11280 - #11287
15-2
15.2 Clearing the Interface Panel Signals
15.2 Clearing the Interface Panel Signals

Set the parameters S4C330 - S4C333 to specify whether to clear the interface panel signals
when powering ON, or to hold the signals in the statuses when powering OFF. (Every 8
points; 0: hold; 1: clear)
d02: #60030 - #60037, d03: #60040 - #60047 0: Hold; 1: Clear
d04: #60050 - #60057, d05: #60060 - #60067
d06: #60070 - #60077, d07: #60080 - #60087
d08: #60090 - #60097, d09: #60100 - #60107 The interface panel signals
d10: #60110 - #60117, d11: #60120 - #60127 whose specified bit is set to
d12: #60130 - #60137, d13: #60140 - #60147 "1" will be in the "OFF" status
d14: #60150 - #60157, d15: #60160 - #60167 when the power is ON.
S4C331 d00: #60170 - #60177, d01: #60180 - #60187

d02: #60190 - #60197, d03: #60200 - #60207
d04: #60210 - #60217, d05: #60220 - #60227
d06: #60230 - #60237, d07: #60240 - #60247
d08: #60250 - #60257, d09: #60260 - #60267
d10: #60270 - #60277, d11: #60280 - #60287
d12: #60290 - #60297, d13: #60300 - #60307
d14: #60310 - #60317, d15: #60320 - #60327
S4C332 d00: #60330 - #60337, d01: #60340 - #60347

d02: #60350 - #60357, d03: #60360 - #60367
d04: #60370 - #60377, d05: #60380 - #60387
d06: #60390 - #60397, d07: #60400 - #60407
d08: #60410 - #60417, d09: #60420 - #60427
d10: #60430 - #60437, d11: #60440 - #60447
d12: #60450 - #60457, d13: #60460 - #60467
d14: #60470 - #60477, d15: #60480 - #60487
S4C333 d00: #60490 - #60497, d01: #60500 - #60507

d02: #60510 - #60517, d03: #60520 - #60527
d04: #60530 - #60537, d05: #60540 - #60547
d06: #60550 - #60557, d07: #60560 - #60567
d08: #60570 - #60577, d09: #60580 - #60587
d10: #60590 - #60597, d11: #60600 - #60607
d12: #60610 - #60617, d13: #60620 - #60627
d14: #60630 - #60637, d15: #60640 - #60647
15-3
15.3 Clearing the Auxiliary Relay Signals

Set the parameters S4C040 - S4C055 to specify whether to clear the auxiliary relay signals
when powering ON, or to hold the signals in the statuses when powering OFF.
(Every 32 points; 0: clear; 1: hold)
d02: #70090 - #70127, d03: #70130 - #70167 0: Clear; 1: Hold
d04: #70170 - #70207, d05: #70210 - #70247
d06: #70250 - #70287, d07: #70290 - #70327
The auxiliary relay signals
d08: #70330 - #70367, d09: #70370 - #70407
whose specified bit is set to
d10: #70410 - #70447, d11: #70450 - #70487
"1" will be in the "hold" status
d12: #70490 - #70527, d13: #70530 - #70567
when the power is ON.
d14: #70570 - #70607, d15: #70610 - #70647
S4C041 d00: #70650 - #70687, d01: #70690 - #70727

d02: #70730 - #70767, d03: #70770 - #70807
d04: #70810 - #70247, d05: #70850 - #70887
d06: #70890 - #70927, d07: #70930 - #70967
d08: #70970 - #71007, d09: #71010 - #71047
d10: #71050 - #71087, d11: #71090 - #71127
d12: #71130 - #71167, d13: #71170 - #71207
d14: #71210 - #71247, d15: #71250 - #71287
S4C042 d00: #71290 - #71327, d01: #71330 - #71367

d02: #71370 - #71407, d03: #71410 - #71447
d04: #71450 - #71487, d05: #71490 - #71527
d06: #71530 - #71567, d07: #71570 - #71607
d08: #71610 - #71647, d09: #71650 - #71687
d10: #71690 - #71727, d11: #71730 - #71767
d12: #71770 - #71807, d13: #71810 - #71847
d14: #71850 - #71887, d15: #71890 - #71927
S4C043 d00: #71930 - #71967, d01: #71970 - #72007

d02: #72010 - #72047, d03: #72050 - #72087
d04: #72090 - #72127, d05: #72130 - #72167
d06: #72170 - #72207, d07: #72210 - #72247
d08: #72250 - #72287, d09: #72290 - #72327
d10: #72330 - #72367, d11: #72370 - #72407
d12: #72410 - #72447, d13: #72450 - #72487
d14: #72490 - #72527, d15: #72530 - #72567
S4C044 d00: #72570 - #72607, d01: #72610 - #72647

d02: #72650 - #72687, d03: #72690 - #72727
d04: #72730 - #72767, d05: #72770 - #72807
d06: #72810 - #72847, d07: #72850 - #72887
d08: #72890 - #72927, d09: #72930 - #72967
d10: #72970 - #73007, d11: #73010 - #73047
d12: #73050 - #73087, d13: #73090 - #73127
d14: #73130 - #73167, d15: #73170 - #73207
15-4
d02: #73290 - #73327, d03: #73330 - #73367 0: Clear; 1: Hold
d04: #73370 - #73407, d05: #73410 - #73447
d06: #73450 - #73487, d07: #73490 - #73527
d08: #73530 - #73567, d09: #73570 - #73607
d10: #73610 - #73647, d11: #73650 - #73687
d12: #73690 - #73727, d13: #73730 - #73767
d14: #73770 - #73807, d15: #73810 - #73847
S4C046 d00: #73850 - #73887, d01: #73890 - #73927

d02: #73930 - #73967, d03: #73970 - #74007
d04: #74010 - #74047, d05: #74050 - #74087
d06: #74090 - #74127, d07: #74130 - #74167
d08: #74170 - #74207, d09: #74210 - #74247
d10: #74250 - #74287, d11: #74290 - #74327
d12: #74330 - #74367, d13: #74370 - #74407
d14: #74410 - #74447, d15: #74450 - #74487
S4C047 d00: #74490 - #74527, d01: #74530 - #74567

d02: #74570 - #74607, d03: #74610 - #74647
d04: #74650 - #74687, d05: #74690 - #74727
d06: #74730 - #74767, d07: #74770 - #74807
d08: #74810 - #74847, d09: #74850 - #74887
d10: #74890 - #74927, d11: #74930 - #74967
d12: #74970 - #75007, d13: #75010 - #75047
d14: #75050 - #75087, d15: #75090 - #75127
S4C048 d00: #75130 - #75167, d01: #75170 - #75207

d02: #75210 - #75247, d03: #75250 - #75287
d04: #75290 - #75327, d05: #75330 - #75367
d06: #75370 - #75407, d07: #75410 - #75447
d08: #75450 - #75487, d09: #75490 - #75527
d10: #75530 - #75567, d11: #75570 - #75607
d12: #75610 - #75647, d13: #75650 - #75687
d14: #75690 - #75727, d15: #75730 - #75767
S4C049 d00: #75770 - #75807, d01: #75810 - #75847

d02: #75850 - #75887, d03: #75890 - #75927
d04: #75930 - #75967, d05: #75970 - #76007
d06: #76010 - #76047, d07: #76050 - #76087
d08: #76090 - #76127, d09: #76130 - #76167
d10: #76170 - #76207, d11: #76210 - #76247
d12: #76250 - #76287, d13: #76290 - #76327
d14: #76330 - #76367, d15: #76370 - #76407
S4C050 d00: #76410 - #76447, d01: #76450 - #76487

d02: #76490 - #76527, d03: #76530 - #76567
d04: #76570 - #76607, d05: #76610 - #76647
d06: #76650 - #76687, d07: #76690 - #76727
d08: #76730 - #76767, d09: #76770 - #76807
d10: #76810 - #76847, d11: #76850 - #76887
d12: #76890 - #76927, d13: #76930 - #76967
d14: #76970 - #77007, d15: #77010 - #77047
15-5
d02: #77130 - #77167, d03: #77170 - #77207 0: Clear; 1: Hold
d04: #77210 - #77247, d05: #77250 - #77287
d06: #77290 - #77327, d07: #77330 - #77367
d08: #77370 - #77407, d09: #77410 - #77447
d10: #77450 - #77487, d11: #77490 - #77527
d12: #77530 - #77567, d13: #77570 - #77607
d14: #77610 - #77647, d15: #77650 - #77687
S4C052 d00: #77690 - #77727, d01: #77730 - #77767

d02: #77770 - #77807, d03: #77810 - #77847
d04: #77850 - #77887, d05: #77890 - #77927
d06: #77930 - #77967, d07: #77970 - #78007
d08: #78010 - #78047, d09: #78050 - #78087
d10: #78090 - #78127, d11: #78130 - #78167
d12: #78170 - #78207, d13: #78210 - #78247
d14: #78250 - #78287, d15: #78290 - #78327
S4C053 d00: #78330 - #78367, d01: #78370 - #78407

d02: #78410 - #78447, d03: #78450 - #78487
d04: #78490 - #78527, d05: #78530 - #78567
d06: #78570 - #78607, d07: #78610 - #78647
d08: #78650 - #78687, d09: #78690 - #78727
d10: #78730 - #78767, d11: #78770 - #78807
d12: #78810 - #78847, d13: #78850 - #78887
d14: #78890 - #78927, d15: #78930 - #78967
S4C054 d00: #78970 - #79007, d01: #79010 - #79047

d02: #79050 - #79087, d03: #79090 - #79127
d04: #79130 - #79167, d05: #79170 - #79207
d06: #79210 - #79247, d07: #79250 - #79287
d08: #79290 - #79327, d09: #79330 - #79367
d10: #79370 - #79407, d11: #79410 - #79447
d12: #79450 - #79487, d13: #79490 - #79527
d14: #79530 - #79567, d15: #79570 - #79607
S4C055 d00: #79610 - #79647, d01: #79650 - #79687

d02: #79690 - #79727, d03: #79730 - #79767
d04: #79770 - #79807, d05: #79810 - #79847
d06: #79850 - #79887, d07: #79890 - #79927
d08: #79930 - #79967, d09: #79970 - #79997
15-6
15.4 Clearing the Universal Register
Clearing Registers when Powering ON

Set the parameters S4C245 - S4C261 to specify whether to clear the universal registers when
powering ON, or to hold the signals in the statuses when powering OFF.
(Every 1 point; 0: hold; 1: clear)
S4C245 d00: M000 d01: M001 d02: M002 d03: M003 Bit specified in every 1 point
d04: M004 d05: M005 d06: M006 d07: M007 0: Hold; 1: Clear
d08: M008 d09: M009 d10: M010 d11: M011
d12: M012 d13: M013 d14: M014 d15: M015
The values of the universal
S4C246 d00: M016 d01: M017 d02: M018 d03: M019 registers whose specified bit is
d04: M020 d05: M021 d06: M022 d07: M023 set to 1 will be "0" when the
d08: M024 d09: M025 d10: M026 d11: M027 power is ON.
d12: M028 d13: M029 d14: M030 d15: M031
S4C247 d00: M032 d01: M033 d02: M034 d03: M035

d04: M036 d05: M037 d06: M038 d07: M039
d08: M040 d09: M041 d10: M042 d11: M043
d12: M044 d13: M045 d14: M046 d15: M047
S4C248 d00: M048 d01: M049 d02: M050 d03: M051

d04: M052 d05: M053 d06: M054 d07: M055
d08: M056 d09: M057 d10: M058 d11: M059
d12: M060 d13: M061 d14: M062 d15: M063
S4C249 d00: M064 d01: M065 d02: M066 d03: M067

d04: M068 d05: M069 d06: M070 d07: M071
d08: M072 d09: M073 d10: M074 d11: M075
d12: M076 d13: M077 d14: M078 d15: M079
S4C250 d00: M080 d01: M081 d02: M082 d03: M083

d04: M084 d05: M085 d06: M086 d07: M087
d08: M088 d09: M089 d10: M090 d11: M091
d12: M092 d13: M093 d14: M094 d15: M095
S4C251 d00: M096 d01: M097 d02: M098 d03: M099

d04: M100 d05: M101 d06: M102 d07: M103
d08: M104 d09: M105 d10: M106 d11: M107
d12: M108 d13: M109 d14: M110 d15: M111
S4C252 d00: M112 d01: M113 d02: M114 d03: M115

d04: M116 d05: M117 d06: M118 d07: M119
d08: M120 d09: M121 d10: M122 d11: M123
d12: M124 d13: M125 d14: M126 d15: M127
S4C253 d00: M128 d01: M129 d02: M130 d03: M131

d04: M132 d05: M133 d06: M134 d07: M135
d08: M136 d09: M137 d10: M138 d11: M139
d12: M140 d13: M141 d14: M142 d15: M143
15-7
S4C254 d00: M144 d01: M145 d02: M146 d03: M147 Bit specified in every 1 point
d04: M148 d05: M149 d06: M150 d07: M151 0: Hold; 1: Clear
d08: M152 d09: M153 d10: M154 d11: M155
d12: M156 d13: M157 d14: M158 d15: M159
The values of the universal
S4C255 d00: M160 d01: M161 d02: M162 d03: M163 registers whose specified bit is
d04: M164 d05: M165 d06: M166 d07: M167 set to 1 will be "0" when the
d08: M168 d09: M169 d10: M170 d11: M171 power is ON.
d12: M172 d13: M173 d14: M174 d15: M175
S4C256 d00: M176 d01: M177 d02: M178 d03: M179

d04: M180 d05: M181 d06: M182 d07: M183
d08: M184 d09: M185 d10: M186 d11: M187
d12: M188 d13: M189 d14: M190 d15: M191
S4C257 d00: M192 d01: M193 d02: M194 d03: M195

d04: M196 d05: M197 d06: M198 d07: M199
d08: M200 d09: M201 d10: M202 d11: M203
d12: M204 d13: M205 d14: M206 d15: M207
S4C258 d00: M208 d01: M209 d02: M210 d03: M211

d04: M212 d05: M213 d06: M214 d07: M215
d08: M216 d09: M217 d10: M218 d11: M219
d12: M220 d13: M221 d14: M222 d15: M223
S4C259 d00: M224 d01: M225 d02: M226 d03: M227

d04: M228 d05: M229 d06: M230 d07: M231
d08: M232 d09: M233 d10: M234 d11: M235
d12: M236 d13: M237 d14: M238 d15: M239
S4C260 d00: M240 d01: M241 d02: M242 d03: M243

d04: M244 d05: M245 d06: M246 d07: M247
d08: M248 d09: M249 d10: M250 d11: M251
d12: M252 d13: M253 d14: M254 d15: M255
S4C261 d00: M256 d01: M257 d02: M258 d03: M259
15-8
NX100
Concurrent I/O
HEAD OFFICE
2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyusyu-shi, 806-0004, Japan
Phone +81-93-645-7745 Fax +81-93-645-7746
MOTOMAN INC. HEADQUARTERS
805 Liberty Lane, West Carrollton, OH 45449, U.S.A.
Phone +1-937-847-6200 Fax +1-937-847-6277
MOTOMAN ROBOTICS EUROPE AB
Franska Vagen 10, Box 4004, SE-390 04 Kalmar, Sweden
Phone +46-480-417800 Fax +46-480-417999
MOTOMAN ROBOTEC GmbH
Kammerfeld strasse 1, 85391 Allershausen, Germany
Phone +49-8166-90-100 Fax +49-8166-90-103
YASKAWA ELECTRIC KOREA CORPORATION
1F, Samyang Bldg. 89-1, Shinchun-dong, Donk-Ku, Daegu, Korea
Phone +82-53-382-7844 Fax +82-53-382-7845
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park, Singapore 556741
Phone +65-6282-3003 Fax +65-6289-3003
YASKAWA ELECTRIC (MALAYSIA) SDN. BHD.
Unit 47-1 and 2. Jalan PJU 5/9, Dataran Sunway, Kota Damansara, 47810, Petailng Jaya Selangor, Malaysia
Phone +60-3614-08919 Fax +60-3614-08929
YASKAWA ELECTRIC (THAILAND) CO., LTD.
252/246, 4th Floor. Muang Thai-Phatra office Tower II Rechadapisek Road, Huaykwang Bangkok 10320, Thailand
Phone +66-2-693-2200 Fax +66-2-693-4200
SHOUGANG MOTOMAN ROBOT CO., LTD.
No.7,Yongchang-North Road, Beijing Economic and Technological and Development Area, Beijing 100076, China
Phone +86-10-6788-0541 Fax +86-10-6788-0542
MOTOMAN MOTHERSON ROBOTICS LTD.
910, DLF Galleria, DLF City Phase IV, Gurgaon - 122002 Haryama, india
Phone +91-124-414-8514 Fax +91-124-414-8016
YASKAWA ELECTRIC CORPORATION
YASKAWA
Specifications are subject to change without notice MANUAL NO. RE-CKI-A442 1

for ongoing product modifications and improvements. C Printed in Japan June 2007 03-11
Concurrent I/O
149230-1
Appendix A
Setup of External I/O Allocation
The NX100 I/O can be customized to make maximum use of available I/O. The external I/O
allocation menu can be used to map the I/O as desired. Otherwise the system maps the device's
I/O one after the other.
Note: External I/O allocation is only available in software versions 4.19 or later.
The following example shows a standard configuration, and outlines how to customize the I/O
allocation within the controller. The SST DeviceNet Card is used for this example and has the
following characteristics is:
PCI Card: SST-DN3-PCI-2, Motoman number: 150216-1
Channel 1 is Slave to cell controller.
Channel 2 is Master to user devices.
Signal Description
2xxx0 - 2xxx3
Reserved
(bit 0 to 3)
2xxx4 (bit 4) Not used. Always set to zero
In Slave mode
Not used. Always set to zero
2xxx5 (bit 5) In Master mode
0: Communication to all slave nodes normal
1: Communication error to slave node(s)
DeviceNet Communication Status

2xxx6 (bit 6)
0: Normal; 1: Error
DeviceNet Board Status

2xxx7 (bit 7)
0: Normal; 1: Error
Status byte (allocated for ch#1, ch#2 respectively
page 27
Manual
Appendix A Setup of External I/O Allocation
In the standard configuration, each device is listed directly below the status byte. If there is more
than one device in the Master section, each successive device is concatenated or linked onto the
previous. Listed below is an example of how each device would be mapped to the NX100's
memory by default.
External Inputs Station Address Size MAC ID

20060 Status Channel 1 16 0
20070 Byte 1 16 1
2 Bytes 13
20080 Byte 2 16 2
20090 . Status Channel 2 16 3
20100 Byte 1 16 4
2 Bytes 11
20110 . Byte 2 16 5
20120 Byte 1 16 6
20130 . Byte 2 16 7
4 Bytes 24
20140 Byte 3 16 8
20150 Byte 4 16 9
20160 Byte 1 16 10
20170 Byte 2 16 11
4 Bytes 45
20180 Byte 3 16 12
20190 Byte 4 16 13
Table 1
External Outputs Station Address Size MAC ID

30060 Unused Channel 1 16 0
30070 Byte 1 16 1
2 Bytes 13
30080 Byte 2 16 2
30090 . Unused Channel 2 16 3
30100 Byte 1 16 4
30110 Byte 2 16 5 3 Bytes 11
30120 . Byte 3 16 6
30130 Byte 1 16 7
30140 . Byte 2 16 8 3 Bytes 24
30150 Byte 3 16 9
30160 Byte 1 16 10
2 Bytes 45
30170 Byte 2 16 11
Table 2
page 28
Concurrent I/O
149230-1
By using the External I/O Allocation Menu, you are free to configure a device, byte wise, at any
external I/O address. The following is a layout example:
External Inputs Station Address Size MAC ID

20070 Byte 1 16 1
2 Bytes 13
20080 Byte 2 16 2
20100 Byte 1 16 4
2 Bytes 11
20110 Byte 2 16 5
20120 Byte 1 (Not Mapped) 16 6
20130 Byte 2 16 7
4 Bytes 24
20140 Byte 3 16 8
20160 Byte 1 16 10
20170 Byte 2 16 11
4 Bytes 45
20180 Byte 3 16 12
20190 Byte 4 16 13
20200
20210
.
.
.
20230
20240
Table 3
External Outputs Station Address Size MAC ID

30070 Byte 1 16 1
2 Bytes 13
30080 Byte 2 16 2
30110 Byte 2 (Not Mapped) 16 5 3 Bytes 11
30130 Byte 1 16 7
30140 Byte 2 16 8 3 Bytes 24
30160 Byte 1 16 10
2 Bytes 45
30170 Byte 2 16 11
30180
30190
30200
Table 4
page 29
Manual
The following procedures provide step by step instructions for mapping I/O to the
configurations shown on the previous page. The following modifications require the controller to
be in Maintenance Mode with Management Mode selected.
1. From the Main Menu, select System > Security. The Security screen appears.
2. Select Management Mode.
page 30
Concurrent I/O
149230-1
3. Enter password 999999.
4. Select System -> Setup
page 31
Manual
5. Select Option Board.
6. Board is identified in slot CP02#1. Select card.
page 32
Concurrent I/O
149230-1
7. CH1 and CH2 should be displayed. Select CH1.
8. Configure Slave Channel as follows:

Change SST-DN3_PCI-2(CH1) from UNUSED TO USED
At SLAVE OR MASTER, select SLAVE
Set IO SIZE to 2
Set MAC ID to 13
Set BAUD RATE to 500
SCAN LIST not used in slave device.
Press Enter to return to previous menu.
page 33
Manual
9. Press Enter to return to previous menu.

10. Configure Master Channel as follows:
Change SST-DN3_PCI-2(CH2) from UNUSED TO USED
At SLAVE OR MASTER select Master
Set IO SIZE to 10
Set MAC ID to 0 (Since this channel is Master of the network)
Set BAUD RATE to 500
Select SCAN LIST and press Enter.
11. Configure Scan List as follows - Press DETAIL button.

Set MAC ID 11 Inputs to 2 and Outputs to 3 Polled should appear.
Press Enter to close SCAN LIST .
page 34
Concurrent I/O
149230-1
page 35
Manual
12. I/O MODULE MENUs

Menu appears as below.
I/O equals (2)Status Bytes + Slave I/0 + Master I/O
Press Enter >YES > Enter
A.1 External IO Allocation
1. From MAIN MENU, select SYSTEM > SETUP.
page 36
Concurrent I/O
149230-1
2. Select EXTERNAL IO SETUP.
3. Change ALLOCATION MODE from AUTO to MANUAL.
page 37
Manual
4. Select EXTERNAL IO ALLOCATION - DETAIL button.
5. EXTERNAL IO ALLOCATION (INPUT)
Note: Refer toTable 3 for ADDR and SIZE Information.

#----- Indicates unassigned
Address 20010 is discrete I/O
At 20010 allocate Station #0's I/O starting at byte 0, move 5 bytes total.
At 20060 allocate Station #16's I/O starting at ADDR 0, move 1 bytes total.
At #----- allocate Station #16's I/O starting at ADDR 0, move 4 bytes total.
page 38
Concurrent I/O
149230-1
6. EXTERNAL IO ALLOCATION (OUTPUT)
Note: Refer toTable 4 for ADDR and SIZE Information.

#----- Indicates unassigned
Address 30010 is discrete I/O
At 30010 allocate Station #0's I/O starting at byte 0, move 5 bytes total.
page 39
Manual
Note: 1. When the External I/O Allocation menu is set to Manual, external inputs and outputs are not
automatically associated to I/O cards.
2. All bytes of information must be mapped to an external I/O point or tagged as no connection.
page 40

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Motoman NX100 Controller

Part Number: 149230-1CD

1.1 About This Document

1.2 Reference to Other Documentation

1.3 Customer Service Information

It is the purchasers responsibility to ensure that all local, county, state,

This safety section addresses the following:

2.2 Standard Conventions

2.3 General Safeguarding Tips

2.4 Mechanical Safety Devices

2.5 Installation Safety

2.6 Programming, Operation, and Maintenance Safety

YASKAWA MANUAL NO. RE-CKI-A442 1

General items related to safety are listed in Section 1: Safety of the

The drawings and photos in this manual are representative examples

If your copy of the manual is damaged or lost, contact a YASKAWA rep-

YASKAWA is not responsible for incidents arising from unauthorized

Indicates a potentially hazardous situation which, if not avoided,

Indicates a potentially hazardous situation which, if not avoided,

Always be sure to follow explicitly the items listed under this

PROHIBITED Must never be performed.

Emergency Stop Button

Injury may result from unintentional or unexpected manipulator motion.

Release of Emergency Stop

Observe the following precautions when performing teaching operations

Improper or unintended manipulator operation may result in injury.

Confirm that no persons are present in the manipulators work envelope

Read and understand the Explanation of Warning Labels in the NX100

Definition of Terms Used Often in This Manual

Equipment Manual Designation

NX100 Controller NX100

NX100 Programming Pendant Programming Pendant

Cable between the manipulator and the controller Manipulator Cable

Equipment Manual Designation

ex. page key PAGE

The cursor key is an exception, and a picture is not

Keys pressed When two keys are to be pressed simultaneously,

Displays The menu displayed in the programming pendant is

Description of the Operation Procedure

2 Classification of I/O Signals

3 Configuration of I/O Signals

4 Specific I/O Signals

5 Internal Signal Used in Standard Ladder

6 Internal Control Status Signals

7 Pseudo Input Signals

9 Interface Panel Signals

10 I/O Except Concurrent I/O

12 Standard Ladder Program

14 Editing Ladder Programs

1.1 Features of Concurrent I/O

Reserved signals can be accepted while the manipulator is operating.

1.2 Construction and Specifications of the Concurrent

The Concurrent I/O consists of the following two blocks.

Construction of Concurrent I/O Ladder Program

Concurrent I/O Specifications

Control Method Scan control by stored program

Programming Relay ladder program symbology