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Part Number: 149230-1

Release Date: February 19, 2004
Document Version: 1
Document Status: Final

Motoman, Incorporated
805 Liberty Lane
West Carrollton, OH 45449
TEL: (937) 847-6200
FAX: (937) 847-6277
24-Hour Service Hotline: (937) 847-3200
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.

©2003 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.
 %QPEWTTGPV+1CPF2CTCOGVGTU



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The Motoman Concurrent I/O and Parameters Manual provides information regarding
various I/O signals and ladder editing programs. It also provides various parameter
configurations.

This manual is intended to teach basic controller and robot operation and programming to
operators, programmers, engineers, and maintenance personnel who design, install, use, and
maintain a Motoman robotic system. This manual contains the following sections:
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This section contains general information about this manual, a list of reference documents,
and customer service information.
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This section provides information regarding the safe use and operation of Motoman products.
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Provides detailed information about I/O signals and parameter configurations for the NX100
controller.

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For additional information refer to the following:
• Operator’s Manual for Handling (P/N 149231-1)
• Operator’s Manual for Arc Welding (P/N 149235-1)
• Operator’s Manual for Spot Welding with Motor Gun (P/N 149232-1)
• Operator’s Manual for Spot Welding with Air Gun (P/N 149233-1)
• Manipulator Manual
• Vendor manuals for system components not manufactured by Motoman

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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 (ES165N, HP6, EA1400N, etc.)
• Application Type (arc welding, handling, spot welding)
• Robot Serial Number (located on back side of robot arm)
• Robot Sales Order Number (located on back of NX100 controller)

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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. 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

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.

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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 Safety (Section 2.6)
• Operation Safety (Section 2.7)
• Maintenance Safety (Section 2.8)

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This manual includes information essential to the safety of personnel and equipment. As you
read through this manual, be alert to the four signal words:

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NOTE:

Pay particular attention to the information provided under these headings which are defined
below (in descending order of severity).

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Note: Information appearing in a Note caption provides additional information which is helpful in
understanding the item being explained.

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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, section 6.13.4 and 6.13.5, 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).

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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 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 measures are available:
• Safety fences and barriers
• Light curtains
• Door interlocks
• Safety mats
• Floor markings
• Warning lights

Check all safety equipment frequently for proper operation. Repair or replace any
non-functioning safety equipment immediately.

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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 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.

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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. Programming tips are as follows:

Any modifications to PART 1 of the NX100 controller PLC can cause severe personal injury or
death, as well as damage to the robot! Do not make any modifications to PART 1. 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.

Back up all programs and jobs onto a floppy disk whenever 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.

The concurrent I/O (Input and Output) function allows the customer to modify the internal
ladder inputs and outputs for maximum robot performance. Great care must be taken when
making these modifications. Double-check all modifications under every mode of robot
operation to ensure that you have not created hazards or dangerous situations that may
damage the robot or other parts of the system.

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 %QPEWTTGPV+1CPF2CTCOGVGTU



• 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 operate the system.
• 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 the E-STOP button on the teach pendant for proper operation before
programming.
• Carry the teach pendant with you when you enter the workcell.
• Be sure that only the person holding the teach pendant enters the workcell.
• Test any new or modified program at low speed for at least one full cycle.

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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. Operation tips are as follows:
• Be sure that only trained personnel familiar with the operation of this robot, the
operator's manuals, the system equipment, and options and accessories are
permitted to operate this robot system.
• Check all safety equipment for proper operation. Repair or replace any
non-functioning safety equipment immediately.
• Inspect the robot and work envelope to ensure no potentially hazardous conditions
exist. Be sure the area is clean and free of water, oil, debris, etc.
• Ensure that all safeguards are in place.
• 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 operate the system.
• Do not enter the robot cell while it is in automatic operation. Programmers must
have the teach pendant when they enter the cell.
• The robot must be placed in Emergency Stop (E-STOP) mode whenever it is not in
use.
• This equipment has multiple sources of electrical supply. Electrical interconnections
are made between the controller, external servo box, and other equipment.
Disconnect and lockout/tagout all electrical circuits before making any modifications
or connections.

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• 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. This includes
controller parameters, ladder parts 1 and 2, and I/O (Input and Output)
modifications. Check and test all changes at slow speed.

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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. Maintenance tips are as follows:
• Do not perform any maintenance procedures before reading and understanding the
proper procedures in the appropriate manual.
• Check all safety equipment for proper operation. Repair or replace any
non-functioning safety equipment immediately.
• 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 operate the system.
• Back up all your programs and jobs onto a floppy disk whenever program changes
are made. A backup must always be made before any servicing or changes are made
to options, accessories, or equipment to avoid loss of information, programs, or jobs.
• Do not enter the robot cell while it is in automatic operation. Programmers must
have the teach pendant when they enter the cell.
• The robot must be placed in Emergency Stop (E-STOP) mode whenever it is not in
use.
• Be sure all safeguards are in place.
• Use proper replacement parts.
• This equipment has multiple sources of electrical supply. Electrical interconnections
are made between the controller, external servo box, and other equipment.
Disconnect and lockout/tagout all electrical circuits before making any modifications
or connections.
• 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. This includes
controller parameters, ladder parts 1 and 2, and I/O (Input and Output)
modifications. Check and test all changes at slow speed.
• 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).

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 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 OPERATOR’S MANUAL
NX100 MAINTENANCE MANUAL
The NX100 operator’s manual above corresponds to specific usage.
Be sure to use the appropriate manual.

YASKAWA MANUAL NO. RE-CKI-A442

 RE-CKI-A442

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-
uct’s warranty.

ii
RE-CKI-A442

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
 RE-CKI-A442

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
the servo power ON

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 manipulator’s 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
RE-CKI-A442

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 manipulator’s 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
 RE-CKI-A442

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
RE-CKI-A442

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
„ 40042, 40056, 40057: Selection of Operating Modes . . . .4-28

vii
 RE-CKI-A442

„ 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 . . . . . . . . . . . . . . . . . . . . 4-29
„ 40065 to 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 . . . . . . . . . . . . . . . . . . . . . . . . . . 4-30
„ 40047: PROHIBIT WEAVING . . . . . . . . . . . . . . . . . . . . . . 4-30
„ 40060: MACHINE LOCK . . . . . . . . . . . . . . . . . . . . . . . . . . 4-30
„ 40061: SHOCK DETECTION INVALID . . . . . . . . . . . . . . . 4-31
„ 40070 to 40073: 1-Step Back Operating Instruction . . . . . 4-31
„ 40090 to 40093: SEQUENCE WAIT . . . . . . . . . . . . . . . . . 4-31
„ 40110 to 40113: Work Home Position Return Request. . . 4-34
4.6.5 Independent Control Signals (Optional) . . . . . . . . . . . . . . . . . 4-34
„ 40021 to 40027:
SUB 1, 2, 3, 4, 5, 6, 7 ALARM REQUEST . . . . . . . . . . . . . 4-34
„ 40031 to 40037: SUB1, 2, 3, 4, 5, 6, 7 MASTER CALL . . 4-34
„ 40170 to 40177:
SUB 1, 2, 3, 4, 5, 6, 7, and MASTER START REQUEST . 4-35
„ 40180 to 40187: SUB 1, 2, 3, 4, 5, 6, 7 HOLD REQUEST . 4-35
4.6.6 Signals for Arc Welding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-35
„ 40570, 40630, 40690, 40750:
WORK START RESPONSE . . . . . . . . . . . . . . . . . . . . . . . 4-35
„ 40571, 40631, 40691, 40751: WORK END RESPONSE . 4-35
„ 40572, 40632, 40692, 40752: WORK TIME MEASURE . . 4-35
„ 40573, 40633, 40693, 40753:
TIP REPLACEMENT COMPLETED . . . . . . . . . . . . . . . . . 4-36
„ 40574, 40634, 40694, 40754:
NOZZLE CLEANING COMPLETED . . . . . . . . . . . . . . . . . 4-36
„ 40575, 40635, 40695, 40755: RETRY REQUEST . . . . . . 4-36
„ 40576, 40636, 40696, 40756:
RETRY RETURN REQUEST. . . . . . . . . . . . . . . . . . . . . . . 4-36
„ 40577, 40637, 40697, 40757:
AUTOMATIC ANTI-STICKING REQUEST . . . . . . . . . . . . 4-36
„ 40580, 40640, 40700, 40760:
RESTART REQUEST (ARC SHORTAGE). . . . . . . . . . . . 4-36
„ 40581, 40641, 40701, 40761:
RESTART REQUEST (GAS SHORTAGE) . . . . . . . . . . . . 4-37
„ 40582, 40642, 40702, 40762:
RESTART REQUEST (WIRE SHORTAGE) . . . . . . . . . . . 4-37
„ 40583, 40643, 40703, 40763:
RESTART RESET PROCESS . . . . . . . . . . . . . . . . . . . . . 4-37
„ 40584, 40644, 40704, 40764: RETRY TIMES CLEAR . . . 4-37
„ 40585, 40645, 40705, 40766:
ARC SHORTAGE RESTART TIMES CLEAR. . . . . . . . . . 4-37
„ 40586, 40646, 40706, 40766:
AUTOMATIC ANTI-STICKING TIMES CLEAR . . . . . . . . . 4-37
„ 40600, 40660, 40720, 40780: SENSING PROHIBIT. . . . . 4-38

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4.6.7 Signals for Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-38

„ 40570, 40630, 40690, 40750:
WORK START RESPONSE . . . . . . . . . . . . . . . . . . . . . . . .4-38
„ 40571, 40631, 40691, 40751: WORK END RESPONSE . .4-38
„ 40572, 40632, 40692, 40752: WORK TIME MEASURE . . .4-38
„ 40580 to 40587, 40640 to 40647, 40700 to 40707,
40760 to 40767: SENSOR INPUT . . . . . . . . . . . . . . . . . . . .4-38
4.6.8 Signals for Spot Welding . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-39
„ 40572, 40632, 40692, 40752: WORK TIME MEASURE . . .4-39
„ 40575, 40585, 40595, 40605:
ELECTRODE REPLACEMENT . . . . . . . . . . . . . . . . . . . . .4-39
„ 40587, 40597, 40607, 40617: WELDING STOP . . . . . . . . .4-39
4.6.9 Signals for General-Purpose Applications. . . . . . . . . . . . . . . .4-39
„ 40570, 40630, 40690, 40750:
WORK START RESPONSE . . . . . . . . . . . . . . . . . . . . . . . .4-39
„ 40571, 40631, 40691, 40751: WORK END RESPONSE . .4-40
„ 40572, 40632, 40692, 40752: WORK TIME MEASURE . . .4-40
4.7 Specific Output Signals for All Applications . . . . . . . 4-41
4.8 Specific Output Signals for Arc Welding . . . . . . . . . . . 4-51
4.9 Specific Output Signals for Handling . . . . . . . . . . . . . . 4-55
4.10 Specific Output Signals for Spot Welding . . . . . . . . 4-59
4.11 Specific Output Signals for General-Purpose
Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-63
4.12 Specific Output Signals: Explanation . . . . . . . . . . . . 4-67
4.12.1 Alarms and Messages Display . . . . . . . . . . . . . . . . . . . . . . .4-67
„ 50010 to 50014: ALARM/ERROR OCCURRENCE . . . . . .4-67
„ 50015, 50016: BATTERY WEAK . . . . . . . . . . . . . . . . . . . .4-67
„ 50017: COOLING FAN ERROR . . . . . . . . . . . . . . . . . . . . .4-67
4.12.2 Setting of Mode / Cycle and Particular Play Operation . . . . .4-67
„ 50050 to 50052: CYCLE SETTING . . . . . . . . . . . . . . . . . . .4-67
„ 50053 to 50054: MODE SETTING . . . . . . . . . . . . . . . . . . .4-68
„ 50056: COMMAND REMOTE SETTING. . . . . . . . . . . . . . .4-68
„ 50060: IN-GUARD SAFE OPERATION SETTING . . . . . . .4-68
„ 50061: DRY-RUN SETTING . . . . . . . . . . . . . . . . . . . . . . . .4-68
„ 50062: MACHINE LOCK SETTING . . . . . . . . . . . . . . . . . .4-68
„ 50063: SOFT LIMIT RELEASE SETTING . . . . . . . . . . . . .4-68
„ 50064: CHECK OPERATION SETTING . . . . . . . . . . . . . . .4-68
4.12.3 Start and Stop Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-68
„ 50020: HEAD OF MASTER JOB . . . . . . . . . . . . . . . . . . . .4-68
„ 50066: POSITION CHECK COMPLETED . . . . . . . . . . . . .4-68
„ 50067: FULL SPEED OPERATING . . . . . . . . . . . . . . . . . .4-69
„ 50070: OPERATING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-69
„ 50071: HOLDING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-69
„ 50073: SERVO ON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-69
„ 50075: JOB EDITING OPERATION INDICATION . . . . . . .4-69
„ 50076: JOG OPERATION INDICATION . . . . . . . . . . . . . . .4-69
„ 50180 to 50197: SERVO ON STATUS . . . . . . . . . . . . . . . .4-69

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„ 50200, 50201, 50202, 50203: SEQUENCE WAITING . . . . 4-69

„ 50220, 50221, 50222, 50223:
SEQUENCE CONTINUING . . . . . . . . . . . . . . . . . . . . . . . . 4-70
„ 50240 to 50243: CONTROL GROUP OPERATING. . . . . . 4-70
„ 50260, 50261, 50262, 50283:
WORK RESTART PROHIBIT . . . . . . . . . . . . . . . . . . . . . . 4-70
„ 50264, 50265, 50266, 50267:
PERMISSIBLE WORK OPERATING. . . . . . . . . . . . . . . . . 4-71
„ 50270, 50271, 50272, 50273: SEARCH START . . . . . . . . 4-71
„ 50280, 50281, 50282, 50283: LOCUS DEVIATION . . . . . . 4-71
4.12.4 Interference Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-71
„ 50080 to 50117: IN-CUBE . . . . . . . . . . . . . . . . . . . . . . . . . 4-71
„ 50140, 50141, 50150, 50151, 50160, 50161,
50170, 50171: S-AXIS INTERFERENCE AREA. . . . . . . . . 4-71
„ 50142, 50144, 50146, 50147, 50152, 50154, 50156,
50157, 50162, 50164, 50166, 50167, 50172 to 50177:
MOVING SPHERE INTERFERENCE AREA . . . . . . . . . . . 4-72
4.12.5 Arithmetic Instruction Signal . . . . . . . . . . . . . . . . . . . . . . . . . 4-72
„ 50640, 50641, 50642: Arithmetic Flag . . . . . . . . . . . . . . . . 4-72
4.12.6 Signals During Operation and
for Jog Offset Junction (Optional). . . . . . . . . . . . . . . . . . . . . 4-72
„ 50021, 50022, 50023, 50024, 50025, 50026, 50027:
TOP SUB 1, 2, 3, 4, 5, 6, 7 MASTER . . . . . . . . . . . . . . . . 4-72
„ 50031, 50032, 50033, 50034, 50035, 50036, 50037:
SUB HELD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-72
„ 50041, 50042, 50043, 50044, 50045, 50046, 50047:
SUB ALARM OCCUR . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-73
„ 50143, 50145, 50153, 50155, 50163, 50165:
CRD WORKING. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-73
„ 50320 to 50327:
SUB 1, 2, 3, 4, 5, 6, 7, MASTER OPERATING . . . . . . . . . 4-73
„ 50330 to 50337:
SUB 1, 2, 3, 4, 5, 6, 7, MASTER HOLDING . . . . . . . . . . . 4-73
4.12.7 Signals for Servo Float Function (Optional) . . . . . . . . . . . . . 4-74
„ 50274, 50275, 50276, 50277: SERVO FLOAT ON . . . . . . 4-74
„ 50300 to 50303: SHOCK DETECTION VALID. . . . . . . . . . 4-74
4.12.8 Singals for Arc Welding . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-74
„ 50770, 50830, 50890, 50950:
WORK START Instructions . . . . . . . . . . . . . . . . . . . . . . . . 4-74
„ 50771, 50831, 50891, 50951:
WORK END Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . 4-74
„ 50772, 50832, 50892, 50952:
WORK CONTINUING PROHIBIT Instructions. . . . . . . . . . 4-74
„ 50773, 50833, 50893, 50953:
TIP REPLACEMENT REQUEST . . . . . . . . . . . . . . . . . . . . 4-75
„ 50774, 50834, 50894, 50954:
NOZZLE CLEANING REQUEST . . . . . . . . . . . . . . . . . . . . 4-75
„ 50775, 50835, 50895, 50955: INCHING. . . . . . . . . . . . . . . 4-75
„ 50776, 50836, 50896, 50956: RETRACT. . . . . . . . . . . . . . 4-75

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„50777, 50837, 50897, 50957:

RETRY RETURN PROCESSING. . . . . . . . . . . . . . . . . . . .4-75
„ 50780, 50840, 50900, 50960:
RESTART PROCESSING (ARC SHORTAGE) . . . . . . . . .4-76
„ 50781, 50841, 50901, 50961:
RESTART PROCESSING (GAS SHORTAGE) . . . . . . . . .4-76
„ 50782, 50842, 50902, 50962:
RESTART PROCESSING (WIRE SHORTAGE) . . . . . . . .4-76
„ 50783, 50843, 50903, 50963:
RESTART RETURN PROCESSING . . . . . . . . . . . . . . . . .4-76
„ 50784, 50844, 50904, 50964:
RETRY SETTING TIME EXCEEDED. . . . . . . . . . . . . . . . .4-76
„ 50785, 50845, 50905, 50965: ARC SHORTAGE
RESTART SETTING TIMES EXCEEDED . . . . . . . . . . . . .4-76
„ 50786, 50846, 50906, 50966: AUTOMATIC
ANTI-STICKING SETTING TIMES EXCEEDED . . . . . . . .4-77
„ 50787, 50847, 50907, 50967: RETRY REPLAY MODE . . .4-77
4.12.9 Signals for Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-77
„ 50776, 50836, 50896, 50956:
SHOCK SENSOR FUNCTION SELECT . . . . . . . . . . . . . .4-77
„ 50777, 50837, 50897, 50957: SHOCK SENSOR INPUT . .4-77
„50780 to 50787, 50840 to 50847, 50900 to 50907,
50960 to 50967: TOOL VALVE OUTPUT . . . . . . . . . . . . . .4-77
4.12.10 Signals for Spot Welding . . . . . . . . . . . . . . . . . . . . . . . . . .4-78
„ 50773, 50783, 50793, 50803:
WEAR DETECTION NORMAL . . . . . . . . . . . . . . . . . . . . . .4-78
„ 50774, 50784, 50794, 50804:
WEAR DETECTION ERROR (Motor Gun) . . . . . . . . . . . . .4-78
„ 50775, 50785, 50795, 50805:
CHANGE TIP ALM (Motor Gun) . . . . . . . . . . . . . . . . . . . . .4-78
„ 50776, 50786, 50796, 50806:
SVSPOT EXECUTE (Motor Gun) . . . . . . . . . . . . . . . . . . . .4-78
„ 50777: WELDING ON/OFF . . . . . . . . . . . . . . . . . . . . . . . . .4-78
„ 50780, 50790, 50800, 50810: SENSOR DETECTING . . . .4-78
4.12.11 Signals for General-Purpose Applications . . . . . . . . . . . . .4-79
„ 50770, 50830, 50890, 50950:
WORK START Instructions. . . . . . . . . . . . . . . . . . . . . . . . .4-79
„ 50771, 50831, 50891, 50951: WORK END Instructions . . .4-79
„ 50772, 50832, 50892, 50952:
WORK CONTINUING PROHIBIT Instructions . . . . . . . . . .4-79

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
5.4 Signals for General-Purpose Applications . . . . . . . . . . 5-6

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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: FORCED RELEASE 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 BLOWOUT . . . . . . . . . . . . . . . . . . . 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

7.0.1 Pseudo Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
„ 82014 to 82016: REMOTE FUNCTION SELECTION . . . . . 7-1
„ 82020 to 82027:
SIGNAL SELECT STATUS (SPOT WELDING) . . . . . . . . . . 7-1

8 Network Input Signals

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9 I/O Except Concurrent I/O

9.1 Hardware Specific Input . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
9.2 I/O Except Concurrent I/O: Explanation . . . . . . . . . . . . 9-3
„ EXESP: FOR EXTERNAL EMERGENCY STOP . . . . . . . . .9-3
„ EXHOLD: FOR EXTERNAL HOLD . . . . . . . . . . . . . . . . . . . .9-3
„ SAF_F: FOR SAFETY PLUG . . . . . . . . . . . . . . . . . . . . . . . .9-3
„ EXSVON: FOR EXTERNAL SERVO ON . . . . . . . . . . . . . . .9-3
„ CPDIN1 to 4:
FOR DIRECT IN (SYSTEM) INPUT SIGNAL 1 to 4 . . . . . . .9-3
„ AXDIN1 to 5:
FOR DIRECT IN (SERVO) INPUT SIGNAL 1 to 5 . . . . . . . .9-4
„ FORCE: FORCED RELEASE INPUT SIGNAL . . . . . . . . . . .9-4

10 Register
10.1 Common Usage for All Applications . . . . . . . . . . . . . 10-1
10.1.1 General Register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-1
10.1.2 System Register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-3
10.2 Arc Welding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-5
10.3 Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-6
10.4 General Purposes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-7
10.5 Spot Welding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-8

11 Standard Ladder Program

11.1 List of Usable Instructions . . . . . . . . . . . . . . . . . . . . . . . 11-1
11.2 Instruction Description . . . . . . . . . . . . . . . . . . . . . . . . . . 11-6
„ STR Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-6
„ STR-NOT Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-6
„ AND Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-7
„ AND-NOT Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-7
„ OR Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-8
„ OR-NOT Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-8
„ AND-STR Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-9
„ OR-STR Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-9
„ OUT Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-10
„ PART Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-10
„ END Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-11
„ TMR Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-11
„ CNT Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-12
„ GSTR Instruction / GOUT Instruction . . . . . . . . . . . . . . . .11-14
„ PLS Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-14
„ PLF Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-15

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„ ADD Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-16

„ SUB Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-17
„ MUL Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-18
„ DIV Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-19
„ MOD Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-20
„ BIN Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-21
„ BCD Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-22
„ MOV Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-23
„ WAND Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-24
„ WOR Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-25
„ WXOR Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-26
„ WNOT Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-27
„ SHL Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-28
„ SHR Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-29
„ ROL Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-30
„ ROR Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-31
11.3 Arithmetic Flag . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-32
„ Flag Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-32
„ Flag Transition under Scanning . . . . . . . . . . . . . . . . . . . . 11-32
11.4 Arc Welding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-33
„ Ladder Program List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-33
„ I/O Alarm. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-53
„ I/O Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-54
„ USER OPEN SIGNALS . . . . . . . . . . . . . . . . . . . . . . . . . . 11-55
11.5 Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-57
„ LADDER PROGRAM LIST . . . . . . . . . . . . . . . . . . . . . . . . 11-57
„ I/O ALARM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-74
„ I/O Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-75
11.6 Spot Welding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-76
„ Ladder Program List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-76
„ I/O Alarm. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-95
„ I/O Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-96
11.7 General-Purpose Applications . . . . . . . . . . . . . . . . . . 11-97
„ LADDER PROGRAM LIST . . . . . . . . . . . . . . . . . . . . . . . . 11-97
„ I/O ALARM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-113
„ I/O MESSAGE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-114

12 How to Monitor Signals

12.1 Monitoring I/O Signals. . . . . . . . . . . . . . . . . . . . . . . . . . . 12-1
12.1.1 I/O Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-1
12.2 I/O Status Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-2
12.3 Pseudo Input Signal Display . . . . . . . . . . . . . . . . . . . . 12-5
12.4 Register Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-8
12.5 Servo Power Status Display . . . . . . . . . . . . . . . . . . . . 12-10

xiv
RE-CKI-A442

12.6 Analog Output Display . . . . . . . . . . . . . . . . . . . . . . . . . 12-11

12.7 I/O Messages and I/O Alarms . . . . . . . . . . . . . . . . . 12-12
12.7.1 Registering the User Section . . . . . . . . . . . . . . . . . . . . . . .12-12

13 Editing Ladder Programs

13.1 Flow of Data by Ladder Programs . . . . . . . . . . . . . . 13-1
13.2 Editing by Mnemonic and Editing Program . . . . . . 13-2
13.3 Mnemonic Editing Display . . . . . . . . . . . . . . . . . . . . . . 13-3
13.3.1 Basic Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13-3
13.3.2 Editing Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13-5
„ Inserting Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13-5
„ Changing Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13-8
„ Delete Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13-10
„ Editing Operands. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13-11
„ Cancelling Editing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13-12
13.3.3 Compile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13-13
13.3.4 Search. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13-14
„ Top Line, End Line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13-15
„ Search for Line No. and Block No. . . . . . . . . . . . . . . . . . .13-15
„ Search for Relay No. and Register No. . . . . . . . . . . . . . . .13-16

xv
 RE-CKI-A442

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
RE-CKI-A442
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

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
 RE-CKI-A442

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 display.

1-3
RE-CKI-A442

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)
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)
Link 90010 - 90327
9 xxxx
(256 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
 RE-CKI-A442

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

9 Robot Link

7 Auxiliary Relay I/O Internal Processing

(Internal Relay)

8 0/1 Control Input Hard Signal Monitor

2-2
RE-CKI-A442
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
 RE-CKI-A442

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
RE-CKI-A442
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

+14V

8000H ffffH
0H 　7fffH　
Register Value
(Hexadecimal)

-14V

SUPPLE-
MENT
Analog output board (JANCD-NEW01- ) uses a 12-bit resolution D/A circuit.

2-5
 RE-CKI-A442

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

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
RE-CKI-A442
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
 RE-CKI-A442

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
Concurrent I/O Ladder Program

Operating Status/ Specific
Condition
Processing Section I/O Area
4XXXX General I/O Board
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
Input Area Option I/O Board
Section 30060 31207
32XXX
20060 21207
MXXX
Register
Area

How to Monitor Signal Status

To monitor a signal, verify the signal status of the signal logic number in the I/O monitor
display (Refer to “12.1.1. I/O Display”).

3-1
RE-CKI-A442
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

5XXXX
Concurrent I/O Ladder Program
Operating Status/
Condition Specific
Processing Section I/O Area
4XXXX General I/O Board
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
Input Area Option I/O Board
Section
32XXX 30060 31287
20060 21287
MXXX
Register
Area

How to Monitor Signal Status

To monitor a signal, verify the signal status of the signal logic number in the I/O monitor
display (Refer to "12.1.1 I/O Display").

3-2
 RE-CKI-A442

4.1 Specific Input Signals for All Applications

4 Specific I/O Signals

4.1 Specific Input Signals for All Applications

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

SIN#016 SIN#015 SIN#014 SIN#013 SIN#012 SIN#011 SIN#010 SIN#009
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

SIN#024 SIN#023 SIN#022 SIN#021 SIN#020 SIN#019 SIN#018 SIN#017
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

SIN#032 SIN#031 SIN#030 SIN#029 SIN#028 SIN#027 SIN#026 SIN#025
CMD
PROHIBIT CHECK EXT EXT
REMOTE
WEAVING RUN SERVO ON START
SELECT

40057 40056 40055 40054 40053 40052 40051 40050

SIN#040 SIN#039 SIN#038 SIN#037 SIN#036 SIN#035 SIN#034 SIN#033
CONTINUE STEP
PROHIBIT PROHIBIT 1 CYCLE
CYCLE CYCLE
I/O PP SELECT
SELECT SELECT

40067 40066 40065 40064 40063 40062 40061 40060

SIN#048 SIN#047 SIN#046 SIN#045 SIN#044 SIN#043 SIN#042 SIN#041
EXT EXT SHOCK
EXT MACHINE
SERVO SERVO DETECTION
HOLD LOCK
OFF 2 OFF 1 INVALID

40077 40076 40075 40074 40073 40072 40071 40070

SIN#056 SIN#055 SIN#054 SIN#053 SIN#052 SIN#051 SIN#050 SIN#049

STEP BACK STEP BACK STEP BACK STEP BACK

R4J R3J R2J R1J

4-1
RE-CKI-A442
4.1 Specific Input Signals for All Applications

40087 40086 40085 40084 40083 40082 40081 40080

SIN#064 SIN#063 SIN#062 SIN#061 SIN#060 SIN#059 SIN#058 SIN#057

40097 40096 40095 40094 40093 40092 40091 40090

SIN#072 SIN#071 SIN#070 SIN#069 SIN#068 SIN#067 SIN#066 SIN#065
WAIT JOB WAIT JOB WAIT JOB WAIT JOB
SEQ SEQ SEQ SEQ
R4J R3J 2J R1J

40107 40106 40105 40104 40103 40102 40101 40100

SIN#080 SIN#079 SIN#078 SIN#077 SIN#076 SIN#075 SIN#074 SIN#073

40117 40116 40115 40114 40113 40112 40111 40110

SIN#088 SIN#087 SIN#086 SIN#085 SIN#084 SIN#083 SIN#082 SIN#081
OPE ORG OPE ORG OPE ORG OPE ORG
RET RET RET RET
R4 R3 R2 R1

40127 40126 40125 40124 40123 40122 40121 40120

SIN#096 SIN#095 SIN#094 SIN#093 SIN#092 SIN#091 SIN#090 SIN#089

40137 40136 40135 40134 40133 40132 40131 40130

SIN#104 SIN#103 SIN#102 SIN#101 SIN#100 SIN#099 SIN#098 SIN#097
SYSTEM ALARM CODE (BINARY)

d5 d4 d3 d2 d1 d0

40147 40146 40145 40144 40143 40142 40141 40140

SIN#112 SIN#111 SIN#110 SIN#109 SIN#108 SIN#107 SIN#106 SIN#105
USER ALARM CODE (BINARY)

d5 d4 d3 d2 d1 d0

40157 40156 40155 40154 40153 40152 40151 40150

SIN#120 SIN#119 SIN#118 SIN#117 SIN#116 SIN#115 SIN#114 SIN#113
SYSTEM MESSAGE CODE (BINARY)

d5 d4 d3 d2 d1 d0

4-2
 RE-CKI-A442

4.1 Specific Input Signals for All Applications

40167 40166 40165 40164 40163 40162 40161 40160

SIN#128 SIN#127 SIN#126 SIN#125 SIN#124 SIN#123 SIN#122 SIN#121
USER MASSAGE CODE (BINARY)

d5 d4 d3 d2 d1 d0

40177 40176 40175 40174 40173 40172 40171 40170

SIN#136 SIN#135 SIN#134 SIN#133 SIN#132 SIN#131 SIN#130 SIN#129
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

SIN#144 SIN#143 SIN#142 SIN#141 SIN#140 SIN#139 SIN#138 SIN#137
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

SIN#152 SIN#151 SIN#150 SIN#149 SIN#148 SIN#147 SIN#146 SIN#145

40207 40206 40205 40204 40203 40202 40201 40200

SIN#160 SIN#159 SIN#158 SIN#157 SIN#156 SIN#155 SIN#154 SIN#153

40217 40216 40215 40214 40213 40212 40211 40210

SIN#168 SIN#167 SIN#166 SIN#165 SIN#164 SIN#163 SIN#162 SIN#161

40227 40226 40225 40224 40223 40222 40221 40220

SIN#176 SIN#175 SIN#174 SIN#173 SIN#172 SIN#171 SIN#170 SIN#169

40237 40236 40235 40234 40233 40232 40231 40230

SIN#184 SIN#183 SIN#182 SIN#181 SIN#180 SIN#179 SIN#178 SIN#177

40247 40246 40245 40244 40243 40242 40241 40240

SIN#192 SIN#191 SIN#190 SIN#189 SIN#188 SIN#187 SIN#186 SIN#185

4-3
RE-CKI-A442
4.1 Specific Input Signals for All Applications

40257 40256 40255 40254 40253 40252 40251 40250

SIN#200 SIN#199 SIN#198 SIN#197 SIN#196 SIN#195 SIN#194 SIN#193

40267 40266 40265 40264 40263 40262 40261 40260

SIN#208 SIN#207 SIN#206 SIN#205 SIN#204 SIN#203 SIN#202 SIN#201

40277 40276 40275 40274 40273 40272 40271 40270

SIN#216 SIN#215 SIN#214 SIN#213 SIN#212 SIN#211 SIN#210 SIN#209

40287 40286 40285 40284 40283 40282 40281 40280

SIN#224 SIN#223 SIN#222 SIN#221 SIN#220 SIN#219 SIN#218 SIN#217

40297 40296 40295 40294 40293 40292 40291 40290

SIN#232 SIN#231 SIN#230 SIN#229 SIN#228 SIN#227 SIN#226 SIN#225

40307 40306 40305 40304 40303 40302 40301 40300

SIN#240 SIN#239 SIN#238 SIN#237 SIN#236 SIN#235 SIN#234 SIN#233

40317 40316 40315 40314 40313 40312 40311 40310

SIN#248 SIN#247 SIN#246 SIN#245 SIN#244 SIN#243 SIN#242 SIN#241

40327 40326 40325 40324 40323 40322 40321 40320

SIN#256 SIN#255 SIN#254 SIN#253 SIN#252 SIN#251 SIN#250 SIN#249

4-4
 RE-CKI-A442

4.1 Specific Input Signals for All Applications

40337 40336 40335 40334 40333 40332 40331 40330

SIN#264 SIN#263 SIN#262 SIN#261 SIN#260 SIN#259 SIN#258 SIN#257

40347 40346 40345 40344 40343 40342 40341 40340

SIN#272 SIN#271 SIN#270 SIN#269 SIN#268 SIN#267 SIN#266 SIN#265

40357 40356 40355 40354 40353 40352 40351 40350

SIN#280 SIN#279 SIN#278 SIN#277 SIN#276 SIN#275 SIN#274 SIN#273

40367 40366 40365 40364 40363 40362 40361 40360

SIN#288 SIN#287 SIN#286 SIN#285 SIN#284 SIN#283 SIN#282 SIN#281

40377 40376 40375 40374 40373 40372 40371 40370

SIN#296 SIN#295 SIN#294 SIN#293 SIN#292 SIN#291 SIN#290 SIN#289

40387 40386 40385 40384 40383 40382 40381 40380

SIN#304 SIN#303 SIN#302 SIN#301 SIN#300 SIN#299 SIN#298 SIN#297

40397 40396 40395 40394 40393 40392 40391 40390

SIN#312 SIN#311 SIN#310 SIN#309 SIN#308 SIN#307 SIN#306 SIN#305

40407 40406 40405 40404 40403 40402 40401 40400

SIN#320 SIN#319 SIN#318 SIN#317 SIN#316 SIN#315 SIN#314 SIN#313

4-5
RE-CKI-A442
4.1 Specific Input Signals for All Applications

40417 40416 40415 40414 40413 40412 40411 40410

SIN#328 SIN#327 SIN#326 SIN#325 SIN#324 SIN#323 SIN#322 SIN#321

40427 40426 40425 40424 40423 40422 40421 40420

SIN#336 SIN#335 SIN#334 SIN#333 SIN#332 SIN#331 SIN#330 SIN#329

40437 40436 40435 40434 40433 40432 40431 40430

SIN#344 SIN#343 SIN#342 SIN#341 SIN#340 SIN#339 SIN#338 SIN#337

40447 40446 40445 40444 40443 40442 40441 40440

SIN#352 SIN#351 SIN#350 SIN#349 SIN#348 SIN#347 SIN#346 SIN#345

40457 40456 40455 40454 40453 40452 40451 40450

SIN#360 SIN#359 SIN#358 SIN#357 SIN#356 SIN#355 SIN#354 SIN#353

40467 40466 40465 40464 40463 40462 40461 40460

SIN#368 SIN#367 SIN#366 SIN#365 SIN#364 SIN#363 SIN#362 SIN#361

40477 40476 40475 40474 40473 40472 40471 40470

SIN#376 SIN#375 SIN#374 SIN#373 SIN#372 SIN#371 SIN#370 SIN#369

40487 40486 40485 40484 40483 40482 40481 40480

SIN#384 SIN#383 SIN#382 SIN#381 SIN#380 SIN#379 SIN#378 SIN#377

4-6
 RE-CKI-A442

4.1 Specific Input Signals for All Applications

40497 40496 40495 40494 40493 40492 40491 40490

SIN#392 SIN#391 SIN#390 SIN#389 SIN#388 SIN#387 SIN#386 SIN#385

40507 40506 40505 40504 40503 40502 40501 40500

SIN#400 SIN#399 SIN#398 SIN#397 SIN#396 SIN#395 SIN#394 SIN#393

40517 40516 40515 40514 40513 40512 40511 40510

SIN#408 SIN#407 SIN#406 SIN#405 SIN#404 SIN#403 SIN#402 SIN#401

40527 40526 40525 40524 40523 40522 40521 40520

SIN#416 SIN#415 SIN#414 SIN#413 SIN#412 SIN#411 SIN#410 SIN#409

40537 40536 40535 40534 40533 40532 40531 40530

SIN#424 SIN#423 SIN#422 SIN#421 SIN#420 SIN#419 SIN#418 SIN#417

40547 40546 40545 40544 40543 40542 40541 40540

SIN#440 SIN#439 SIN#438 SIN#437 SIN#436 SIN#435 SIN#434 SIN#433

40557 40556 40555 40554 40553 40552 40551 40550

SIN#448 SIN#447 SIN#446 SIN#445 SIN#444 SIN#443 SIN#442 SIN#441

40567 40566 40565 40564 40563 40562 40561 40560

SIN#456 SIN#455 SIN#454 SIN#453 SIN#452 SIN#451 SIN#450 SIN#449

4-7
RE-CKI-A442
4.2 Specific Input Signals for Arc Welding

4.2 Specific Input Signals for Arc Welding

Device 1
40577 40576 40575 40574 40573 40572 40571 40570
SIN#456 SIN#455 SIN#454 SIN#453 SIN#452 SIN#451 SIN#450 SIN#449
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

SIN#464 SIN#463 SIN#462 SIN#461 SIN#460 SIN#459 SIN#458 SIN#457
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

SIN#472 SIN#471 SIN#470 SIN#469 SIN#468 SIN#467 SIN#466 SIN#465

40607 40606 40605 40604 40603 40602 40601 40600

SIN#480 SIN#479 SIN#478 SIN#477 SIN#476 SIN#475 SIN#474 SIN#473

PROHIBIT
SENSING

40617 40616 40615 40614 40613 40612 40611 40610

SIN#488 SIN#487 SIN#486 SIN#485 SIN#484 SIN#483 SIN#482 SIN#481

40627 40626 40625 40624 40623 40622 40621 40620

SIN#496 SIN#495 SIN#494 SIN#493 SIN#492 SIN#491 SIN#490 SIN#489

4-8
 RE-CKI-A442

4.2 Specific Input Signals for Arc Welding

Device 2
40637 40636 40635 40634 40633 40632 40631 40630
SIN#504 SIN#503 SIN#502 SIN#501 SIN#500 SIN#499 SIN#498 SIN#497
RETRY WORK
ANTI-STICK RETRY NOZZLE TIP TIME WORK END
RET START
REQUEST REQUEST CLEANED CHANGED MEASURE ANSWER
REQUEST ANSWER

40647 40646 40645 40644 40643 40642 40641 40640

SIN#512 SIN#511 SIN#510 SIN#509 SIN#508 SIN#507 SIN#506 SIN#505
CLEAR CLEAR
CLEAR RESTART RESTART/ RESTART/ RESTART/
ANTI- RESTART
RETRY NO RESET WIRE GAS ARC
STICCK NO NO

40657 40656 40655 40654 40653 40652 40651 40650

SIN#520 SIN#519 SIN#518 SIN#517 SIN#516 SIN#515 SIN#514 SIN#513

40667 40666 40665 40664 40663 40662 40661 40660

SIN#528 SIN#527 SIN#526 SIN#525 SIN#524 SIN#523 SIN#522 SIN#521

PROHIBIT
SENSING

40677 40676 40675 40674 40673 40672 40671 40670

SIN#536 SIN#535 SIN#534 SIN#533 SIN#532 SIN#531 SIN#530 SIN#529

40687 40686 40685 40684 40683 40682 40681 40680

SIN#544 SIN#543 SIN#542 SIN#541 SIN#540 SIN#539 SIN#538 SIN#537

4-9
RE-CKI-A442
4.2 Specific Input Signals for Arc Welding

Device 3
40697 40696 40695 40694 40693 40692 40691 40690
SIN#552 SIN#551 SIN#550 SIN#549 SIN#548 SIN#547 SIN#546 SIN#545
RETRY WORK
ANTI-STICK RETRY NOZZLE TIP TIME WORK END
RET START
REQUEST REQUEST CLEANED CHANGED MEASURE ANSWER
REQUEST ANSWER

40707 40706 40705 40704 40703 40702 40701 40700

SIN#560 SIN#559 SIN#558 SIN#557 SIN#556 SIN#555 SIN#554 SIN#553
CLEAR CLEAR
CLEAR RESTART RESTART/ RESTART/ RESTART/
ANTI- RESTART
RETRY NO RESET WIRE GAS ARC
STICCK NO NO

40717 40716 40715 40714 40713 40712 40711 40710

SIN#568 SIN#567 SIN#566 SIN#565 SIN#564 SIN#563 SIN#562 SIN#561

40727 40726 40725 40724 40723 40722 40721 40720

SIN#576 SIN#575 SIN#574 SIN#573 SIN#572 SIN#571 SIN#570 SIN#569

PROHIBIT
SENSING

40737 40736 40735 40734 40733 40732 40731 40730

SIN#584 SIN#583 SIN#582 SIN#581 SIN#580 SIN#579 SIN#578 SIN#577

40747 40746 40745 40744 40743 40742 40741 40740

SIN#592 SIN#591 SIN#590 SIN#589 SIN#588 SIN#587 SIN#586 SIN#585

4-10
 RE-CKI-A442

4.2 Specific Input Signals for Arc Welding

Device 4
40757 40756 40755 40754 40753 40452 40751 40750
SIN#600 SIN#599 SIN#598 SIN#597 SIN#596 SIN#595 SIN#594 SIN#593
RETRY WORK
ANTI-STICK RETRY NOZZLE TIP TIME WORK END
RET START
REQUEST REQUEST CLEANED CHANGED MEASURE ANSWER
REQUEST ANSWER

40767 40766 40765 40764 40763 40762 40761 40760

SIN#608 SIN#607 SIN#606 SIN#605 SIN#604 SIN#603 SIN#602 SIN#601
CLEAR CLEAR
CLEAR RESTART RESTART/ RESTART/ RESTART/
ANTI- RESTART
RETRY NO RESET WIRE GAS ARC
STICCK NO NO

40777 40776 40775 40774 40773 40772 40771 40770

SIN#616 SIN#615 SIN#614 SIN#613 SIN#612 SIN#611 SIN#610 SIN#609

40787 40786 40785 40784 40783 40782 40781 40780

SIN#624 SIN#623 SIN#622 SIN#621 SIN#620 SIN#619 SIN#618 SIN#617

PROHIBIT
SENSING

40797 40796 40795 40794 40793 40792 40791 40790

SIN#632 SIN#631 SIN#630 SIN#629 SIN#628 SIN#627 SIN#626 SIN#625

40807 40806 40805 40804 40803 40802 40801 40800

SIN#640 SIN#639 SIN#638 SIN#637 SIN#636 SIN#635 SIN#634 SIN#633

4-11
RE-CKI-A442
4.3 Specific Input Signals for Handling

4.3 Specific Input Signals for Handling

Device 1
40577 40576 40575 40574 40573 40572 40571 40570
SIN#456 SIN#455 SIN#454 SIN#453 SIN#452 SIN#451 SIN#450 SIN#449
WORK
TIME WORK END
START
MEASURE ANSWER
ANSWER

40587 40586 40585 40584 40583 40582 40581 40580

SIN#464 SIN#463 SIN#462 SIN#461 SIN#460 SIN#459 SIN#458 SIN#457

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

SIN#472 SIN#471 SIN#470 SIN#469 SIN#468 SIN#467 SIN#466 SIN#465

40607 40606 40605 40604 40603 40602 40601 40600

SIN#480 SIN#479 SIN#478 SIN#477 SIN#476 SIN#475 SIN#474 SIN#473

40617 40616 40615 40614 40613 40612 40611 40610

SIN#488 SIN#487 SIN#486 SIN#485 SIN#484 SIN#483 SIN#482 SIN#481

40627 40626 40625 40624 40623 40622 40621 40620

SIN#496 SIN#495 SIN#494 SIN#493 SIN#492 SIN#491 SIN#490 SIN#489

4-12
 RE-CKI-A442

4.3 Specific Input Signals for Handling

Device 2
40637 40636 40635 40634 40633 40632 40631 40630
SIN#504 SIN#503 SIN#502 SIN#501 SIN#500 SIN#499 SIN#498 SIN#497
WORK
TIME WORK END
START
MEASURE ANSWER
ANSWER

40647 40646 40645 40644 40643 40642 40641 40640

SIN#512 SIN#511 SIN#510 SIN#509 SIN#508 SIN#507 SIN#506 SIN#505

SENSOR SENSOR SENSOR SENSOR SENSOR SENSOR SENSOR SENSOR

INPUT 8 INPUT 7 INPUT 6 INPUT 5 INPUT 4 INPUT 3 INPUT 2 INPUT 1

40657 40656 40655 40654 40653 40652 40651 40650

SIN#520 SIN#519 SIN#518 SIN#517 SIN#516 SIN#515 SIN#514 SIN#513

40667 40666 40665 40664 40663 40662 40661 40660

SIN#528 SIN#527 SIN#526 SIN#525 SIN#524 SIN#523 SIN#522 SIN#521

40677 40676 40675 40674 40673 40672 40671 40670

SIN#536 SIN#535 SIN#534 SIN#533 SIN#532 SIN#531 SIN#530 SIN#529

40687 40686 40685 40684 40683 40682 40681 40680

SIN#544 SIN#543 SIN#542 SIN#541 SIN#540 SIN#539 SIN#538 SIN#537

4-13
RE-CKI-A442
4.3 Specific Input Signals for Handling

Device 3
40697 40696 40695 40694 40693 40692 40691 40690
SIN#552 SIN#551 SIN#550 SIN#549 SIN#548 SIN#547 SIN#546 SIN#545
WORK
TIME WORK END
START
MEASURE ANSWER
ANSWER

40707 40706 40705 40704 40703 40702 40701 40700

SIN#560 SIN#559 SIN#558 SIN#557 SIN#556 SIN#555 SIN#554 SIN#553

SENSOR SENSOR SENSOR SENSOR SENSOR SENSOR SENSOR SENSOR

INPUT 8 INPUT 7 INPUT 6 INPUT 5 INPUT 4 INPUT 3 INPUT 2 INPUT 1

40717 40716 40715 40714 40713 40712 40711 40710

SIN#568 SIN#567 SIN#566 SIN#565 SIN#564 SIN#563 SIN#562 SIN#561

40727 40726 40725 40754 40723 40722 40721 40720

SIN#576 SIN#575 SIN#574 SIN#573 SIN#572 SIN#571 SIN#570 SIN#569

40737 40736 40735 40734 40733 40732 40731 40730

SIN#584 SIN#583 SIN#582 SIN#581 SIN#580 SIN#579 SIN#578 SIN#577

40747 40746 40745 40744 40743 40742 40741 40740

SIN#592 SIN#591 SIN#590 SIN#589 SIN#588 SIN#587 SIN#586 SIN#585

4-14
 RE-CKI-A442

4.3 Specific Input Signals for Handling

Device 4
40757 40756 40755 40754 40753 40752 40751 40750
SIN#600 SIN#599 SIN#598 SIN#597 SIN#596 SIN#595 SIN#594 SIN#593
WORK
TIME WORK END
START
MEASURE ANSWER
ANSWER

40767 40766 40765 40764 40763 40762 40761 40760

SIN#608 SIN#607 SIN#606 SIN#605 SIN#604 SIN#603 SIN#602 SIN#601

SENSOR SENSOR SENSOR SENSOR SENSOR SENSOR SENSOR SENSOR

INPUT 8 INPUT 7 INPUT 6 INPUT 5 INPUT 4 INPUT 3 INPUT 2 INPUT 1

40777 40776 40775 40774 40773 40772 40771 40770

SIN#616 SIN#615 SIN#614 SIN#613 SIN#612 SIN#611 SIN#610 SIN#609

40787 40786 40785 40784 40783 40782 40781 40780

SIN#624 SIN#623 SIN#622 SIN#621 SIN#620 SIN#619 SIN#618 SIN#617

40797 40796 40795 40794 40793 40792 40791 40790

SIN#632 SIN#631 SIN#630 SIN#629 SIN#628 SIN#627 SIN#626 SIN#625

40807 40806 40805 40804 40803 40802 40801 40800

SIN#640 SIN#639 SIN#638 SIN#637 SIN#636 SIN#635 SIN#634 SIN#633

4-15
RE-CKI-A442
4.4 Specific Input Signals for Spot Welding

4.4 Specific Input Signals for Spot Welding

Device 1
40577 40576 40575 40574 40573 40572 40571 40570
SIN#456 SIN#455 SIN#454 SIN#453 SIN#452 SIN#451 SIN#450 SIN#449
WELDING ELECTRODE START
TIME END WORK
STOP EXCHG WORK
MEASURE ANSWER
WELDER 1 WELDER 1 ANSWER

40587 40586 40585 40584 40583 41582 40581 40580

SIN#464 SIN#463 SIN#462 SIN#461 SIN#460 SIN#459 SIN#458 SIN#457
WELDING ELECTRODE
STOP EXCHG
WELDER 2 WELDER 2

40597 40596 40595 40594 40593 40592 40591 40590

SIN#472 SIN#471 SIN#470 SIN#469 SIN#468 SIN#467 SIN#466 SIN#465
WELDING ELECTRODE
STOP EXCHG
WELDER 3 WELDER 3

40607 40606 40605 40604 40603 40602 40601 40600

SIN#480 SIN#479 SIN#478 SIN#477 SIN#476 SIN#475 SIN#474 SIN#473
WELDING ELECTRODE
STOP EXCHG
WELDER 4 WELDER 4

40617 40616 40615 40614 40613 40612 40611 40610

SIN#488 SIN#487 SIN#486 SIN#485 SIN#484 SIN#483 SIN#482 SIN#481

40627 40626 40625 40624 40623 40622 40621 40620

SIN#496 SIN#495 SIN#494 SIN#493 SIN#492 SIN#491 SIN#490 SIN#489

4-16
 RE-CKI-A442

4.4 Specific Input Signals for Spot Welding

Device 2
40637 40636 40635 40634 40633 40632 40631 40630
SIN#504 SIN#503 SIN#502 SIN#501 SIN#500 SIN#499 SIN#498 SIN#497

40647 40646 40645 40644 40643 40642 40641 40640

SIN#512 SIN#511 SIN#510 SIN#509 SIN#508 SIN#507 SIN#506 SIN#505

40657 40656 40655 40654 40653 40652 40651 40650

SIN#520 SIN#519 SIN#518 SIN#517 SIN#516 SIN#515 SIN#514 SIN#513

40667 40666 40665 40664 40663 40662 40661 40660

SIN#528 SIN#527 SIN#526 SIN#525 SIN#524 SIN#523 SIN#522 SIN#521

40677 40676 40675 40674 40673 40672 40671 40670

SIN#536 SIN#535 SIN#534 SIN#533 SIN#532 SIN#531 SIN#530 SIN#529

40687 40686 40685 40684 40683 40682 40681 40680

SIN#544 SIN#543 SIN#542 SIN#541 SIN#540 SIN#539 SIN#538 SIN#537

4-17
RE-CKI-A442
4.4 Specific Input Signals for Spot Welding

Device 3
40697 40696 40695 40694 40693 40692 40691 40690
SIN#552 SIN#551 SIN#550 SIN#549 SIN#548 SIN#547 SIN#546 SIN#545

40707 40706 40705 40704 40703 40702 40701 40700

SIN#560 SIN#559 SIN#558 SIN#557 SIN#556 SIN#555 SIN#554 SIN#553

40717 40716 40715 40714 40713 40712 40711 40710

SIN#568 SIN#567 SIN#566 SIN#565 SIN#564 SIN#563 SIN#562 SIN#561

40727 40726 40725 40724 40723 40722 40721 40720

SIN#576 SIN#575 SIN#574 SIN#573 SIN#572 SIN#571 SIN#570 SIN#569

40737 40736 40735 40734 40733 40732 40731 40730

SIN#584 SIN#583 SIN#582 SIN#581 SIN#580 SIN#579 SIN#578 SIN#577

40747 40746 40745 40744 40743 40742 40741 40740

SIN#592 SIN#591 SIN#590 SIN#589 SIN#588 SIN#587 SIN#586 SIN#585

4-18
 RE-CKI-A442

4.4 Specific Input Signals for Spot Welding

Device 4
40757 40756 40755 40754 40753 40752 40751 40750
SIN#600 SIN#599 SIN#598 SIN#597 SIN#596 SIN#595 SIN#594 SIN#593

40767 40766 40765 40764 40763 40762 40761 40760

SIN#608 SIN#607 SIN#606 SIN#605 SIN#604 SIN#603 SIN#602 SIN#601

40777 40776 40775 40774 40773 40772 40771 40770

SIN#616 SIN#615 SIN#614 SIN#613 SIN#612 SIN#611 SIN#610 SIN#609

40787 40786 40785 40784 40783 40782 40781 40780

SIN#624 SIN#623 SIN#622 SIN#621 SIN#620 SIN#619 SIN#618 SIN#617

40797 40796 40795 40794 40793 40792 40791 40790

SIN#632 SIN#631 SIN#630 SIN#629 SIN#628 SIN#627 SIN#626 SIN#625

40807 40806 40805 40804 40803 40802 40801 40800

SIN#640 SIN#639 SIN#638 SIN#637 SIN#636 SIN#635 SIN#634 SIN#633

4-19
RE-CKI-A442
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
SIN#456 SIN#455 SIN#454 SIN#453 SIN#452 SIN#451 SIN#450 SIN#449
WORK
TIME WORK END
START
MEASURE ANSWER
ANSWER

40587 40586 40585 40584 40583 41582 40581 40580

SIN#464 SIN#463 SIN#462 SIN#461 SIN#460 SIN#459 SIN#458 SIN#457

40597 40596 40595 40594 40593 40592 40591 40590

SIN#472 SIN#471 SIN#470 SIN#469 SIN#468 SIN#467 SIN#466 SIN#465

40607 40606 40605 40604 40603 40602 40601 40600

SIN#480 SIN#479 SIN#478 SIN#477 SIN#476 SIN#475 SIN#474 SIN#473

40617 40616 40615 40614 40613 40612 40611 40610

SIN#488 SIN#487 SIN#486 SIN#485 SIN#484 SIN#483 SIN#482 SIN#481

40627 40626 40625 40624 40623 40622 40621 40620

SIN#496 SIN#495 SIN#494 SIN#493 SIN#492 SIN#491 SIN#490 SIN#489

4-20
 RE-CKI-A442

4.5 Specific Input Signals for General-Purpose Applications

Device 2
40637 40636 40635 40634 40633 40632 40631 40630
SIN#504 SIN#503 SIN#502 SIN#501 SIN#500 SIN#499 SIN#498 SIN#497
WORK
TIME WORK END
START
MEASURE ANSWER
ANSWER

40647 40646 40645 40644 40643 40642 40641 40640

SIN#512 SIN#511 SIN#510 SIN#509 SIN#508 SIN#507 SIN#506 SIN#505

40657 40656 40655 40654 40653 40652 40651 40650

SIN#520 SIN#519 SIN#518 SIN#517 SIN#516 SIN#515 SIN#514 SIN#513

40667 40666 40665 40664 40663 40662 40661 40660

SIN#528 SIN#527 SIN#526 SIN#525 SIN#524 SIN#523 SIN#522 SIN#521

40677 40676 40675 40674 40673 40672 40671 40670

SIN#536 SIN#535 SIN#534 SIN#533 SIN#532 SIN#531 SIN#530 SIN#529

40687 40686 40685 40684 40683 40682 40681 40680

SIN#544 SIN#543 SIN#542 SIN#541 SIN#540 SIN#539 SIN#538 SIN#537

4-21
RE-CKI-A442
4.5 Specific Input Signals for General-Purpose Applications

Device 3
40697 40696 40695 40694 40693 40692 40691 40690
SIN#552 SIN#551 SIN#550 SIN#549 SIN#548 SIN#547 SIN#546 SIN#545
WORK
TIME WORK END
START
MEASURE ANSWER
ANSWER

40707 40706 40705 40704 40703 40702 40701 40700

SIN#560 SIN#559 SIN#558 SIN#557 SIN#556 SIN#555 SIN#554 SIN#553

40717 40716 40715 40714 40713 40712 40711 40710

SIN#568 SIN#567 SIN#566 SIN#565 SIN#564 SIN#563 SIN#562 SIN#561

40727 40726 40725 40724 40723 40722 40721 40720

SIN#576 SIN#575 SIN#574 SIN#573 SIN#572 SIN#571 SIN#570 SIN#569

40737 40736 40735 40734 40733 40732 40731 40730

SIN#584 SIN#583 SIN#582 SIN#581 SIN#580 SIN#579 SIN#578 SIN#577

40747 40746 40745 40744 40743 40742 40741 40740

SIN#592 SIN#591 SIN#590 SIN#589 SIN#588 SIN#587 SIN#586 SIN#585

4-22
 RE-CKI-A442

4.5 Specific Input Signals for General-Purpose Applications

Device 4
40757 40756 40755 40754 40753 40752 40751 40750
SIN#600 SIN#599 SIN#598 SIN#597 SIN#596 SIN#595 SIN#594 SIN#593
WORK
TIME WORK END
START
MEASURE ANSWER
ANSWER

40767 40766 40765 40764 40763 40762 40761 40760

SIN#608 SIN#607 SIN#606 SIN#605 SIN#604 SIN#603 SIN#602 SIN#601

40777 40776 40775 40774 40773 40772 40771 40770

SIN#616 SIN#615 SIN#614 SIN#613 SIN#612 SIN#611 SIN#610 SIN#609

40787 40786 40785 40784 40783 40782 40781 40780

SIN#624 SIN#623 SIN#622 SIN#621 SIN#620 SIN#619 SIN#618 SIN#617

40797 40796 40795 40794 40793 40792 40791 40790

SIN#632 SIN#631 SIN#630 SIN#629 SIN#628 SIN#627 SIN#626 SIN#625

40807 40806 40805 40804 40803 40802 40801 40800

SIN#640 SIN#639 SIN#638 SIN#637 SIN#636 SIN#635 SIN#634 SIN#633

4-23
RE-CKI-A442
4.6 Specific Input Signals: Explanation

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 display 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 display.

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
 RE-CKI-A442

4.6 Specific Input Signals: Explanation

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 display. 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.

Setting Value 0: OFF 1: ON

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 display.

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.

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4.6 Specific Input Signals: Explanation

Setting Value 0: OFF 1: ON

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 display. 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.

Setting Value 0: OFF 1: ON

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

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4.6 Specific Input Signals: Explanation

„ 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

0 Setting Always OFF #40154

0 Setting Always OFF #40155

#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.

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4.6 Specific Input Signals: Explanation

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 display.

„ 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, mode/cycle, start and servo on master job call from the
programming pendant are prohibited. However, this prohibition is released by setting
the PP Operation 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)

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.

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4.6 Specific Input Signals: Explanation

„ 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 display.

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 operator’s 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 display.

This signal is invalid under the following conditions:

• Servo power supply is turned off.
• Play mode is not selected.
• “EXTERNAL START PROHIBIT” is on the operating condition display.
• Manipulator is still operating. [When “OPERATING” (50070) signal is on].
• When “HOLDING” (50071) signal is on.
• “EXTERNAL HOLD” (40067) signal is on.

„ 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 (14 - 39). For details, see “9 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 display.

„ 40065 to 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

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RE-CKI-A442
4.6 Specific Input Signals: Explanation

these signals are on, the servo power remains off even if the servo on reference (from
programming pendant, or outside) is turned on.

„ 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.

„ 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
display 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.

„ 40060: MACHINE LOCK

State When this signal is on, the machine lock mode is seletected.

„ 40061: INVALID SHOCK DETECTION

State When this signal is on, the shock detection function is invalid.

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 RE-CKI-A442

4.6 Specific Input Signals: Explanation

„ 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.

For a system with one manipulator, use signal No. 40090.

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4.6 Specific Input Signals: Explanation

<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 tunrned on while the combined equipment is
outside 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.

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4.6 Specific Input Signals: Explanation

<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.

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4.6 Specific Input Signals: Explanation

„ 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 display.
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.

For a system with one manipulator, use signal No. 40110.

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.

Setting Value 0: OFF 1: ON

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 display.
• Master job is not registered.

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4.6 Specific Input Signals: Explanation

„ 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 operator’s panel other than the NX100
programming pendant. Specify the condition on the operating condition display.
These signals are invalid in any of the following cases: ì
• The servo power is not turned on.
• The PLAY mode is not set.
• The "EXTERNAL START PROHIBIT" is shown on the operating condition display.
• 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 display.

For a system with one application, use signal No. 40572.

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4.6 Specific Input Signals: Explanation

„ 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.

For a system with one application, use signal No. 40573.

„ 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.

For a system with one application, use signal No. 40574.

„ 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

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4.6 Specific Input Signals: Explanation

„ 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 Æ gas shortage Æ 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.

For a system with one application, use signal No. 40583.

„ 40584, 40644, 40704, 40764: RETRY TIMES CLEAR

State When these signals are on, the number of retries is cleared.

For a system with one application, use signal No. 40584.

„ 40585, 40645, 40705, 40766:

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

For a system with one application, use signal No. 40585.

„ 40586, 40646, 40706, 40766:

AUTOMATIC ANTI-STICKING TIMES CLEAR
State When these signals are on, the number of automatic anti-stickings is cleared.

For a system with one application, use signal No. 40586.

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4.6 Specific Input Signals: Explanation

„ 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

Signals from 40570 to 40807 are classified into four blocks and assigned to input signals that
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.

„ 40570, 40630, 40690, 40750: WORK START RESPONSE

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.

For a system with one application, use signal No. 40570.

„ 40571, 40631, 40691, 40751: WORK END 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.

For a system with one application, use signal No. 40571.

„ 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 display.

For a system with one application, use signal No. 40572.

„ 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.

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4.6 Specific Input Signals: Explanation

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.
This section explains exceptional signals that are available for external use.

„ 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 display.

For a system with one application, use signal No. 40582.

„ 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.

For a system with one application, use signal No. 4177.

4.6.9 Signals for General-Purpose Applications

Signals from 40570 to 40807 are classified into four blocks and assigned to input signals that
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.
This section explains exceptional signals that are available for external use.

„ 40570, 40630, 40690, 40750: WORK START RESPONSE

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.

For a system with one application, use signal No. 40570.

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4.6 Specific Input Signals: Explanation

„ 40571, 40631, 40691, 40751: WORK END RESPONSE

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

For a system with one application, use signal No. 40571.

„ 40572, 40632, 40692, 40752: WORK TIME MEASURE

State The time during which these signals are on is measured as the operating time.
This operating time can be checked on the system monitoring time display.

For a system with one application, use signal No. 40572.

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4.7 Specific Output Signals for All Applications

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

SOUT#016 SOUT#015 SOUT#014 SOUT#013 SOUT#012 SOUT#011 SOUT#010 SOUT#009

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

SOUT#024 SOUT#023 SOUT#022 SOUT#021 SOUT#020 SOUT#019 SOUT#018 SOUT#017

SUB SUB SUB SUB SUB SUB SUB

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

SOUT#032 SOUT#031 SOUT#030 SOUT#029 SOUT#028 SOUT#027 SOUT#026 SOUT#025
SUB SUB SUB SUB SUB SUB SUB
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

SOUT#040 SOUT#039 SOUT#038 SOUT#037 SOUT#036 SOUT#035 SOUT#034 SOUT#033

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

SOUT#048 SOUT#047 SOUT#046 SOUT#045 SOUT#044 SOUT#043 SOUT#042 SOUT#041

RUNNING CHECK SOFT LIMIT MACHINE SAFETY

POSITION DRY RUN
AT FULL- RUN SET LOCK SPEED
CHECKED SET
SPEED SET RELEASE SET SET

50077 50076 50075 50074 50073 50072 50071 50070

SOUT#056 SOUT#055 SOUT#054 SOUT#053 SOUT#052 SOUT#051 SOUT#050 SOUT#049

JOG HOLDING
JOB EDIT
OPERATION SERVO ON (HOLD RUNNING
INFORM
INFORM LAMP)

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4.7 Specific Output Signals for All Applications

50087 50086 50085 50084 50083 50082 50081 50080

SOUT#064 SOUT#063 SOUT#062 SOUT#061 SOUT#060 SOUT#059 SOUT#058 SOUT#057
CUBE INTERFERENCE
8 7 6 5 4 3 2 1

50097 50096 50095 50094 50093 50092 50091 50090

SOUT#072 SOUT#071 SOUT#070 SOUT#069 SOUT#068 SOUT#067 SOUT#066 SOUT#065
CUBE INTERFERENCE
16 15 14 13 12 11 10 9

50107 50106 50105 50104 50103 50102 50101 50100

SOUT#080 SOUT#079 SOUT#078 SOUT#077 SOUT#076 SOUT#075 SOUT#074 SOUT#073
CUBE INTERFERENCE
24 23 22 21 20 19 18 17

50117 50116 50115 50114 50113 50112 50111 50110

SOUT#088 SOUT#087 SOUT#086 SOUT#085 SOUT#084 SOUT#083 SOUT#082 SOUT#081
CUBE INTERFERENCE
32 31 30 29 28 27 26 25

50127 50126 50125 50124 50123 50122 50121 50120

SOUT#096 SOUT#095 SOUT#094 SOUT#093 SOUT#092 SOUT#091 SOUT#090 SOUT#089

50137 50136 50135 50134 50133 50132 50131 50130

SOUT#104 SOUT#103 SOUT#102 SOUT#101 SOUT#100 SOUT#099 SOUT#098 SOUT#097

50147 50146 50145 50144 50143 50142 50141 50140

SOUT#112 SOUT#111 SOUT#110 SOUT#109 SOUT#108 SOUT#107 SOUT#106 SOUT#105
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
CRD SPHERE CRD SPHERE S-AXIS INTRF
INPUT INPUT
WORKING INTRF WORKING INTRF
R2 ADVNC R2 ADVNC R2, R3 R2, R3 R4, R2 R4, R2 R2 (LEFT) R2 (RIGHT)
R3 INTRF R1 INTRF

4-42
 RE-CKI-A442

4.7 Specific Output Signals for All Applications

50167 50166 50165 50164 50163 50162 50161 50160

SOUT#128 SOUT#127 SOUT#126 SOUT#125 SOUT#124 SOUT#123 SOUT122 SOUT121
SPHERE SPHERE
CRD SPHERE CRD SPHERE S-AXIS INTRF
INPUT INPUT
WORKING INTRF WORKING INTRF
R3 ADVNC R3 ADVNC R3, R1 R3, R1 R4, R3 R4, R3 R3 (LEFT) R3 (RIGHT)
R2 INTRF R1 INTRF

50177 50176 50175 50174 50173 50172 50171 50170

SOUT#136 SOUT#135 SOUT#134 SOUT#133 SOUT#132 SOUT#131 SOUT#130 SOUT#129
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

SOUT#144 SOUT#143 SOUT#142 SOUT#141 SOUT#140 SOUT#139 SOUT#138 SOUT#137

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

SOUT#152 SOUT#151 SOUT#150 SOUT#149 SOUT#148 SOUT#147 SOUT#146 SOUT#145

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

SOUT#160 SOUT#159 SOUT#158 SOUT#157 SOUT#156 SOUT#155 SOUT#154 SOUT#153

WAIT JOB WAIT JOB WAIT JOB WAIT JOB

SEQ SEQ SEQ SEQ
R4J R3J R2J R1J

50217 50216 50215 50214 50213 50212 50211 50210

SOUT#168 SOUT#167 SOUT#166 SOUT#165 SOUT#164 SOUT#163 SOUT#162 SOUT#161

50227 50226 50225 50224 50223 50222 50221 50220

SOUT#176 SOUT#175 SOUT#174 SOUT#173 SOUT#172 SOUT#171 SOUT#170 SOUT#169

CONTINUE CONTINUE CONTINUE CONTINUE

JOB JOB JOB JOB
R4J R3J R2J R1J

50237 50236 50235 50234 50233 50232 50231 50230

SOUT#184 SOUT#183 SOUT#182 SOUT#181 SOUT#180 SOUT#179 SOUT#178 SOUT#177

4-43
RE-CKI-A442
4.7 Specific Output Signals for All Applications

50247 50246 50245 50244 50243 50242 50241 50240

SOUT#192 SOUT#191 SOUT#190 SOUT#189 SOUT#188 SOUT#187 SOUT#186 SOUT#185

CONTROL CONTROL CONTROL CONTROL

GROUP ON GROUP ON GROUP ON GROUP ON
R4 R3 R2 R1

50257 50256 50255 50254 50253 50252 50251 50250

SOUT#200 SOUT#199 SOUT#198 SOUT#197 SOUT#196 SOUT#195 SOUT#194 SOUT#193

50267 50266 50265 50264 50263 50262 50261 50260

SOUT#208 SOUT#207 SOUT#206 SOUT#205 SOUT#204 SOUT#203 SOUT#202 SOUT#201
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

SOUT#216 SOUT#215 SOUT#214 SOUT#213 SOUT#212 SOUT#211 SOUT#210 SOUT#209

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

SOUT#224 SOUT#223 SOUT#222 SOUT#221 SOUT#220 SOUT#219 SOUT#218 SOUT#217

LOCUS LOCUS LOCUS LOCUS

DEVIATE DEVIATE DEVIATE DEVIATE
R4 R3 R2 R1

50297 50296 50295 50294 50293 50292 50291 50290

SOUT#232 SOUT#231 SOUT#230 SOUT#229 SOUT#228 SOUT#227 SOUT#226 SOUT#225

50307 50306 50305 50304 50303 50302 50301 50300

SOUT#240 SOUT#239 SOUT#238 SOUT#237 SOUT#236 SOUT#235 SOUT#234 SOUT#233
SHOCK SHOCK SHOCK SHOCK
DETECTION DETECTION DETECTION DETECTION
VALID VALID VALID VALID
R4 R3 R2 R1

50317 50316 50315 50314 50313 50312 50311 50310

SOUT#248 SOUT#247 SOUT#246 SOUT#245 SOUT#244 SOUT#243 SOUT#242 SOUT#241

4-44
 RE-CKI-A442

4.7 Specific Output Signals for All Applications

50327 50326 50325 50324 50323 50322 50321 50320

SOUT#256 SOUT#255 SOUT#254 SOUT#253 SOUT#252 SOUT#251 SOUT#250 SOUT#249

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

SOUT#264 SOUT#263 SOUT#262 SOUT#261 SOUT#260 SOUT#259 SOUT#258 SOUT#257

SUB SUB SUB SUB SUB SUB SUB MASTER

MASTER 7 MASTER 6 MASTER 5 MASTER 4 MASTER 3 MASTER 2 MASTER 1 JOB
HELD HELD HELD HELD HELD HELD HELD HELD

50347 50346 50345 50344 50343 50342 50341 50340

SOUT#272 SOUT#271 SOUT#270 SOUT#269 SOUT#268 SOUT#237 SOUT#266 SOUT#265

50357 50356 50355 50354 50353 50352 50351 50350

SOUT#280 SOUT#279 SOUT#278 SOUT#277 SOUT#276 SOUT#275 SOUT#274 SOUT#273

50367 50366 50365 50364 50363 50362 50361 50360

SOUT#288 SOUT#287 SOUT#286 SOUT#285 SOUT#284 SOUT#283 SOUT#282 SOUT#281

50377 50376 50375 50374 50373 50372 50371 50370

SOUT#296 SOUT#295 SOUT#294 SOUT#293 SOUT#292 SOUT#291 SOUT#290 SOUT#289

50387 50386 50385 50384 50383 50382 50381 50380

SOUT#304 SOUT#303 SOUT#302 SOUT#301 SOUT#300 SOUT#299 SOUT#298 SOUT#297

50397 50396 50395 50394 50393 50392 50391 50390

SOUT#312 SOUT#311 SOUT#310 SOUT#309 SOUT#308 SOUT#307 SOUT#306 SOUT#305

4-45
RE-CKI-A442
4.7 Specific Output Signals for All Applications

50407 50406 50405 50404 50403 50402 50401 50400

SOUT#320 SOUT#319 SOUT#318 SOUT#317 SOUT#316 SOUT#315 SOUT#314 SOUT#313

50417 50416 50415 50414 50413 50412 50411 50410

SOUT#328 SOUT#327 SOUT#326 SOUT#325 SOUT#324 SOUT#323 SOUT#322 SOUT#321

50427 50426 50425 50424 50423 50422 50421 50420

SOUT#336 SOUT#335 SOUT#334 SOUT#333 SOUT#332 SOUT#331 SOUT#330 SOUT#329

50437 50436 50435 50434 50433 50432 50431 50430

SOUT#344 SOUT#343 SOUT#342 SOUT#341 SOUT#340 SOUT#339 SOUT#338 SOUT#337

50447 50446 50445 50444 50443 50442 50441 50440

SOUT#352 SOUT#351 SOUT#350 SOUT#349 SOUT#348 SOUT#347 SOUT#346 SOUT#345

50457 50456 50455 50454 50453 50452 50451 50450

SOUT#360 SOUT#359 SOUT#358 SOUT#357 SOUT#356 SOUT#355 SOUT#354 SOUT#353

50467 50466 50465 50464 50463 50462 50461 50460

SOUT#368 SOUT#367 SOUT#366 SOUT#365 SOUT#364 SOUT#363 SOUT#362 SOUT#361

50477 50476 50475 50474 50473 50472 50471 50470

SOUT#376 SOUT#375 SOUT#374 SOUT#373 SOUT#372 SOUT#371 SOUT#370 SOUT#369

4-46
 RE-CKI-A442

4.7 Specific Output Signals for All Applications

50487 50486 50485 50484 50483 50482 50481 50480

SOUT#384 SOUT#383 SOUT#382 SOUT#381 SOUT#380 SOUT#379 SOUT#378 SOUT#377

50497 50496 50495 50494 50493 50492 50491 50490

SOUT#392 SOUT#391 SOUT#390 SOUT#389 SOUT#388 SOUT#387 SOUT#386 SOUT#385

50507 50506 50505 50504 50503 50502 50501 50500

SOUT#400 SOUT#399 SOUT#398 SOUT#397 SOUT#396 SOUT#395 SOUT#394 SOUT#393

50517 50516 50515 50514 50513 50512 50511 50510

SOUT#408 SOUT#407 SOUT#406 SOUT#405 SOUT#404 SOUT#403 SOUT#402 SOUT#401

50527 50526 50525 50524 50523 50522 50521 50520

SOUT#416 SOUT#415 SOUT#414 SOUT#413 SOUT#412 SOUT#411 SOUT#410 SOUT#409

50537 50536 50535 50534 50533 50532 50531 50530

SOUT#424 SOUT#423 SOUT#422 SOUT#421 SOUT#420 SOUT#419 SOUT#418 SOUT#417

50547 50546 50545 50544 50543 50542 50541 50540

SOUT#432 SOUT#431 SOUT#430 SOUT#429 SOUT#428 SOUT#427 SOUT#426 SOUT#425

50557 50556 50555 50554 50553 50552 50551 50550

SOUT#440 SOUT#439 SOUT#438 SOUT#437 SOUT#436 SOUT#435 SOUT#434 SOUT#433

4-47
RE-CKI-A442
4.7 Specific Output Signals for All Applications

50567 50566 50565 50564 50563 50562 50561 50560

SOUT#448 SOUT#447 SOUT#446 SOUT#445 SOUT#444 SOUT#443 SOUT#442 SOUT#441

50577 50576 50575 50574 50573 50572 50571 50570

SOUT#456 SOUT#455 SOUT#454 SOUT#453 SOUT#452 SOUT#451 SOUT#450 SOUT#449

50587 50586 50585 50584 50583 50582 50581 50580

SOUT#464 SOUT#463 SOUT#462 SOUT#461 SOUT#460 SOUT#459 SOUT#458 SOUT#457

50597 50596 50595 50594 50593 50592 50591 50590

SOUT#472 SOUT#471 SOUT#470 SOUT#469 SOUT#468 SOUT#467 SOUT#466 SOUT#465

50607 50606 50605 50604 50603 50602 50601 50600

SOUT#480 SOUT#479 SOUT#478 SOUT#477 SOUT#476 SOUT#475 SOUT#474 SOUT#473

50617 50616 50615 50614 50613 50612 50611 50610

SOUT#488 SOUT#487 SOUT#486 SOUT#485 SOUT#484 SOUT#483 SOUT#482 SOUT#481

50627 50626 50625 50624 50623 50622 50621 50620

SOUT#496 SOUT#495 SOUT#494 SOUT#493 SOUT#492 SOUT#491 SOUT#490 SOUT#489

50637 50636 50635 50634 50633 50632 50631 50630

SOUT#504 SOUT#503 SOUT#502 SOUT#501 SOUT#500 SOUT#499 SOUT#498 SOUT#497

4-48
 RE-CKI-A442

4.7 Specific Output Signals for All Applications

50647 50646 50645 50644 50643 50642 50641 50640

SOUT#512 SOUT#511 SOUT#510 SOUT#509 SOUT#508 SOUT#507 SOUT#506 SOUT#505

ARITHMTC ARITHMTC ARITHMTC

ERROR ZERO CARRY
FLAG FLAG FLAG

50657 50656 50655 50654 50653 50652 50651 50650

SOUT#520 SOUT#519 SOUT#518 SOUT#517 SOUT#516 SOUT#515 SOUT#514 SOUT#513

50667 50666 50665 50664 50663 50662 50661 50660

SOUT#528 SOUT#527 SOUT#526 SOUT#525 SOUT#524 SOUT#523 SOUT#522 SOUT#521

50677 50676 50675 50674 50673 50672 50671 50670

SOUT#536 SOUT#535 SOUT#534 SOUT#533 SOUT#532 SOUT#531 SOUT#530 SOUT#529

50687 50686 50685 50684 50683 50682 50681 50680

SOUT#544 SOUT#543 SOUT#542 SOUT#541 SOUT#540 SOUT#539 SOUT#538 SOUT#537

50697 50696 50695 50694 50693 50692 50691 50690

SOUT#552 SOUT#551 SOUT#550 SOUT#549 SOUT#548 SOUT#547 SOUT#546 SOUT#545

50707 50706 50705 50704 50703 50702 50701 50700

SOUT#560 SOUT#559 SOUT#558 SOUT#557 SOUT#556 SOUT#555 SOUT#554 SOUT#553

50717 50716 50715 50714 50713 50712 50711 50710

SOUT#568 SOUT#567 SOUT#566 SOUT#565 SOUT#564 SOUT#563 SOUT#562 SOUT#561

4-49
RE-CKI-A442
4.7 Specific Output Signals for All Applications

50727 50726 50725 50724 50723 50722 50721 50720

SOUT#576 SOUT#575 SOUT#574 SOUT#573 SOUT#572 SOUT#571 SOUT#570 SOUT#569

50737 50736 50735 50734 50733 5073 50731 50730

SOUT#584 SOUT#583 SOUT#582 SOUT#581 SOUT#580 SOUT#579 SOUT#578 SOUT#577

50747 50746 50745 50744 50743 50742 50741 50740

SOUT#592 SOUT#591 SOUT#590 SOUT#589 SOUT#588 SOUT#587 SOUT#586 SOUT#585

50757 50756 50755 50754 50753 50752 50751 50750

SOUT#600 SOUT#599 SOUT#598 SOUT#597 SOUT#596 SOUT#595 SOUT#594 SOUT#593

50767 50766 50765 50764 50763 50762 50761 50760

SOUT#608 SOUT#607 SOUT#606 SOUT#605 SOUT#604 SOUT#603 SOUT#602 SOUT#601

4-50
 RE-CKI-A442

4.8 Specific Output Signals for Arc Welding

4.8 Specific Output Signals for Arc Welding

Device 1
50777 50776 50775 50774 50773 50772 50771 50770
SOUT#616 SOUT#615 SOUT#614 SOUT#613 SOUT#612 SOUT#611 SOUT#610 SOUT#609

TIP PROHIBIT
RETURN CLEAN START
RETRACT INCHING CHANGE WORK END WORK
RETRY NOZZLE WORK
REQUEST CONT

50787 50786 50785 50784 50783 50782 50781 50780

SOUT#624 SOUT#623 SOUT#622 SOUT#621 SOUT#620 SOUT#619 SOUT#618 SOUT#617

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

SOUT#632 SOUT#631 SOUT#630 SOUT#629 SOUT#628 SOUT#627 SOUT#626 SOUT#625

50807 50806 50805 50804 50803 50802 50801 50800

SOUT#640 SOUT#639 SOUT#638 SOUT#637 SOUT#636 SOUT#635 SOUT#634 SOUT#633

50817 50816 50815 50814 50813 50812 50811 50810

SOUT#648 SOUT#647 SOUT#646 SOUT#645 SOUT#644 SOUT#643 SOUT#642 SOUT#641

50827 50826 50825 50824 50823 50822 50821 50820

SOUT#656 SOUT#655 SOUT#654 SOUT#653 SOUT#652 SOUT#651 SOUT#650 SOUT#649

4-51
RE-CKI-A442
4.8 Specific Output Signals for Arc Welding

Device 2
50837 50836 50835 50834 50833 50832 80531 50830
SOUT#664 SOUT#663 SOUT#662 SOUT#661 SOUT#660 SOUT#659 SOUT#658 SOUT#657

TIP PROHIBIT
RETURN CLEAN START
RETRACT INCHING CHANGE WORK END WORK
RETRY NOZZLE WORK
REQUEST CONT

50847 50846 50845 50844 50843 50842 50841 50840

SOUT#672 SOUT#671 SOUT#670 SOUT#669 SOUT#668 SOUT#667 SOUT#666 SOUT#665

RETRY OVER
OVER OVER RETURN RESTARTING RESTARTING RESTARTING
REPLAY ANTI-
RESTART RETRY RESTART / WIR / GAS / ARC
MODE STICK NO

50857 50856 50855 50854 50853 50852 50851 50850

SOUT#680 SOUT#679 SOUT#678 SOUT#677 SOUT#676 SOUT#675 SOUT#674 SOUT#673

50867 50866 50865 50864 50863 50862 50861 50860

SOUT#688 SOUT#687 SOUT#686 SOUT#685 SOUT#684 SOUT#683 SOUT#682 SOUT#681

50877 50876 50875 50874 50873 50872 50871 50870

SOUT#696 SOUT#695 SOUT#694 SOUT#693 SOUT#692 SOUT#691 SOUT#690 SOUT#689

50887 50886 50885 50884 50883 50882 50881 50880

SOUT#704 SOUT#703 SOUT#702 SOUT#701 SOUT#700 SOUT#699 SOUT#698 SOUT#697

4-52
 RE-CKI-A442

4.8 Specific Output Signals for Arc Welding

Device 3
50897 50896 50895 50894 50893 50892 50891 50890
SOUT#712 SOUT#711 SOUT#710 SOUT#709 SOUT#708 SOUT#707 SOUT#706 SOUT#705

TIP PROHIBIT
RETURN CLEAN START
RETRACT INCHING CHANGE WORK END WORK
RETRY NOZZLE WORK
REQUEST CONTINUE

50907 50506 50905 50904 50903 50902 50901 50900

SOUT#720 SOUT#719 SOUT#718 SOUT#717 SOUT#716 SOUT#715 SOUT#714 SOUT#713

RETRY OVER
OVER OVER RETURN RESTARTING RESTARTING RESTARTING
REPLAY ANTI-
RESTART RETRY RESTART / WIR / GAS / ARC
MODE STICK NO

50917 50916 50915 50914 50913 50912 50911 50910

SOUT#728 SOUT#727 SOUT#726 SOUT#725 SOUT#724 SOUT#723 SOUT#722 SOUT#721

50927 50926 50925 50924 50923 50922 50921 50920

SOUT#736 SOUT#735 SOUT#734 SOUT#733 SOUT#732 SOUT#731 SOUT#730 SOUT#729

50937 50936 50935 50934 50933 50932 50931 50930

SOUT#744 SOUT#743 SOUT#742 SOUT#741 SOUT#740 SOUT#739 SOUT#738 SOUT#737

50947 50976 50945 50944 50943 50942 50941 50940

SOUT#752 SOUT#751 SOUT#750 SOUT#749 SOUT#748 SOUT#747 SOUT#746 SOUT#745

4-53
RE-CKI-A442
4.8 Specific Output Signals for Arc Welding

Device 4
50957 50956 50955 50954 50953 50952 50951 50950
SOUT#760 SOUT#759 SOUT#758 SOUT#757 SOUT#756 SOUT#755 SOUT#754 SOUT#753

TIP PROHIBIT
RETURN CLEAN START
RETRACT INCHING CHANGE WORK END WORK
RETRY NOZZLE WORK
REQUEST CONTINUE

50967 50966 50965 50964 50963 50962 50961 50960

SOUT#768 SOUT#767 SOUT#766 SOUT#765 SOUT#764 SOUT#763 SOUT#762 SOUT#761

RETRY OVER
OVER OVER RETURN RESTARTING RESTARTING RESTARTING
REPLAY ANTI-
RESTART RETRY RESTART / WIR /GAS / ARC
MODE STICK NO

50977 50976 50975 50974 50973 50972 50971 50970

SOUT#776 SOUT#775 SOUT#774 SOUT#773 SOUT#772 SOUT#771 SOUT#770 SOUT#769

50987 50986 50985 50984 50983 50982 50981 50980

SOUT#784 SOUT#783 SOUT#782 SOUT#781 SOUT#780 SOUT#779 SOUT#778 SOUT#777

50997 50996 50995 50994 50993 50992 50991 50990

SOUT#792 SOUT#791 SOUT#790 SOUT#789 SOUT#788 SOUT#787 SOUT#786 SOUT#785

51007 51006 51005 51004 51003 51002 51001 51000

SOUT#800 SOUT#799 SOUT#798 SOUT#797 SOUT#796 SOUT#795 SOUT#794 SOUT#793

4-54
 RE-CKI-A442

4.9 Specific Output Signals for Handling

4.9 Specific Output Signals for Handling

Device 1
50777 50776 50775 50774 50773 50772 50771 50770
SOUT#616 SOUT#615 SOUT#614 SOUT#613 SOUT#612 SOUT#611 SOUT#610 SOUT#609

SH-SNSR PROHIBIT
SH-SNSR START
FUNCTION WORK END WORK
VALID WORK
SELECT CONTINUE

50787 50786 50785 50784 50783 50782 50781 50780

SOUT#624 SOUT#623 SOUT#622 SOUT#621 SOUT#620 SOUT#619 SOUT#618 SOUT#617

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

SOUT#632 SOUT#631 SOUT#630 SOUT#629 SOUT#628 SOUT#627 SOUT#626 SOUT#625

50807 50806 50805 50804 50803 50802 50801 50800

SOUT#640 SOUT#639 SOUT#638 SOUT#637 SOUT#636 SOUT#635 SOUT#634 SOUT#633

50817 50816 50815 50814 50813 50812 50811 50810

SOUT#648 SOUT#647 SOUT#646 SOUT#645 SOUT#644 SOUT#643 SOUT#642 SOUT#641

50827 50826 50825 50824 50823 50822 50821 50820

SOUT#656 SOUT#655 SOUT#654 SOUT#653 SOUT#652 SOUT#651 SOUT#650 SOUT#649

4-55
RE-CKI-A442
4.9 Specific Output Signals for Handling

Device 2
50837 50836 50835 50834 50833 50832 80531 50830
SOUT#664 SOUT#663 SOUT#662 SOUT#661 SOUT#660 SOUT#659 SOUT#658 SOUT#657

SH-SNSR PROHIBIT
SH-SNSR START
FUNCTION WORK END WORK
VALID WORK
SELECT CONTINUE

50847 50846 50845 50844 50843 50842 50841 50840

SOUT#672 SOUT#671 SOUT#670 SOUT#669 SOUT#668 SOUT#667 SOUT#666 SOUT#665

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

50857 50856 50855 50854 50853 50852 50851 50850

SOUT#680 SOUT#679 SOUT#678 SOUT#677 SOUT#676 SOUT#675 SOUT#674 SOUT#673

50867 50866 50865 50864 50863 50862 50861 50860

SOUT#688 SOUT#687 SOUT#686 SOUT#685 SOUT#684 SOUT#683 SOUT#682 SOUT#681

50877 50876 50875 50874 50873 50872 50871 50870

SOUT#696 SOUT#695 SOUT#694 SOUT#693 SOUT#692 SOUT#691 SOUT#690 SOUT#689

50887 50886 50885 50884 50883 50882 50881 50880

SOUT#704 SOUT#703 SOUT#702 SOUT#701 SOUT#700 SOUT#699 SOUT#698 SOUT#697

4-56
 RE-CKI-A442

4.9 Specific Output Signals for Handling

Device 3
50897 50896 50895 50894 50893 50892 50891 50890
SOUT#712 SOUT#711 SOUT#710 SOUT#709 SOUT#708 SOUT#707 SOUT#706 SOUT#705

SH-SNSR PROHIBIT
SH-SNSR START
FUNCTION WORK END WORK
VALID WORK
SELECT CONTINUE

50907 50506 50905 50904 50903 50902 50901 50900

SOUT#720 SOUT#719 SOUT#718 SOUT#717 SOUT#716 SOUT#715 SOUT#714 SOUT#713

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

50917 50916 50915 50914 50913 50912 50911 50910

SOUT#728 SOUT#727 SOUT#726 SOUT#725 SOUT#724 SOUT#723 SOUT#722 SOUT#721

50927 50926 50925 50924 50923 50922 50921 50920

SOUT#736 SOUT#735 SOUT#734 SOUT#733 SOUT#732 SOUT#731 SOUT#730 SOUT#729

50937 50936 50935 50934 50933 50932 50931 50930

SOUT#744 SOUT#743 SOUT#742 SOUT#741 SOUT#740 SOUT#739 SOUT#738 SOUT#737

50947 50976 50945 50944 50943 50942 50941 50940

SOUT#752 SOUT#751 SOUT#750 SOUT#749 SOUT#748 SOUT#747 SOUT#746 SOUT#745

4-57
RE-CKI-A442
4.9 Specific Output Signals for Handling

Device 4
50957 50956 50955 50954 50953 50952 50951 50950
SOUT#760 SOUT#759 SOUT#758 SOUT#757 SOUT#756 SOUT#755 SOUT#754 SOUT#753

SH-SNSR PROHIBIT
SH-SNSR START
FUNCTION WORK END WORK
VALID WORK
SELECT CONT

50967 50966 50965 50964 50963 50962 50961 50960

SOUT#768 SOUT#767 SOUT#766 SOUT#765 SOUT#764 SOUT#763 SOUT#762 SOUT#761

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

50977 50976 50975 50974 50973 50972 50971 50970

SOUT#776 SOUT#775 SOUT#774 SOUT#773 SOUT#772 SOUT#771 SOUT#770 SOUT#769

50987 50986 50985 50984 50983 50982 50981 50980

SOUT#784 SOUT#783 SOUT#782 SOUT#781 SOUT#780 SOUT#779 SOUT#778 SOUT#777

50997 50996 50995 50994 50993 50992 50991 50990

SOUT#792 SOUT#791 SOUT#790 SOUT#789 SOUT#788 SOUT#787 SOUT#786 SOUT#785

51007 51006 51005 51004 51003 51002 51001 51000

SOUT#800 SOUT#799 SOUT#798 SOUT#797 SOUT#796 SOUT#795 SOUT#794 SOUT#793

4-58
 RE-CKI-A442

4.10 Specific Output Signals for Spot Welding

4.10 Specific Output Signals for Spot Welding

Device 1
50777 50776 50775 50774 50773 50772 50771 50770
SOUT#616 SOUT#615 SOUT#614 SOUT#613 SOUT#612 SOUT#611 SOUT#610 SOUT#609
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

SOUT#624 SOUT#623 SOUT#622 SOUT#621 SOUT#620 SOUT#619 SOUT#618 SOUT#617
TIP WEAR WEAR
WORK SENSOR
CHANGE DETECT DETECT
SVSPOT SEARCHING
ALARM ERROR NORMAL
WELD 2 WELD 1
WELD 2 WELD 2 WELD 2

50797 50796 50795 50794 50793 50792 50791 50790

SOUT#632 SOUT#631 SOUT#630 SOUT#629 SOUT#628 SOUT#627 SOUT#626 SOUT#625
TIP WEAR WEAR
WORK SENSOR
CHANGE DETECT DETECT
SVSPOT SEARCHING
ALARM ERROR NORMAL
WELD 3 WELD 2
WELD 3 WELD 3 WELD 3

50807 50806 50805 50804 50803 50802 50801 50800

SOUT#640 SOUT#639 SOUT#638 SOUT#637 SOUT#636 SOUT#635 SOUT#634 SOUT#633
TIP WEAR WEAR
WORK SENSOR
CHANGE DETECT DETECT
SVSPOT SEARCHING
ALARM ERROR NORMAL
WELD 4 WELD 3
WELD 4 WELD 4 WELD 4

50817 50816 50815 50814 50813 50812 50811 50810

SOUT#648 SOUT#647 SOUT#646 SOUT#645 SOUT#644 SOUT#643 SOUT#642 SOUT#641

SENSOR
SEARCHING
WELD 4

50827 50826 50825 50824 50823 50822 50821 50820

SOUT#656 SOUT#655 SOUT#654 SOUT#653 SOUT#652 SOUT#651 SOUT#650 SOUT#649

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4.10 Specific Output Signals for Spot Welding

Device 2
50837 50836 50835 50834 50833 50832 80531 50830
SOUT#664 SOUT#663 SOUT#662 SOUT#661 SOUT#660 SOUT#659 SOUT#658 SOUT#657

50847 50846 50845 50844 50843 50842 50841 50840

SOUT#672 SOUT#671 SOUT#670 SOUT#669 SOUT#668 SOUT#667 SOUT#666 SOUT#665

50857 50856 50855 50854 50853 50852 50851 50850

SOUT#680 SOUT#679 SOUT#678 SOUT#677 SOUT#676 SOUT#675 SOUT#674 SOUT#673

50867 50866 50865 50864 50863 50862 50861 50860

SOUT#688 SOUT#687 SOUT#686 SOUT#685 SOUT#684 SOUT#683 SOUT#682 SOUT#681

50877 50876 50875 50874 50873 50872 50871 50870

SOUT#696 SOUT#695 SOUT#694 SOUT#693 SOUT#692 SOUT#691 SOUT#690 SOUT#689

50887 50886 50885 50884 50883 50882 50881 50880

SOUT#704 SOUT#703 SOUT#702 SOUT#701 SOUT#700 SOUT#699 SOUT#698 SOUT#697

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4.10 Specific Output Signals for Spot Welding

Device 3
50897 50896 50895 50894 50893 50892 50891 50890
SOUT#712 SOUT#711 SOUT#710 SOUT#709 SOUT#708 SOUT#707 SOUT#706 SOUT#705

50907 50506 50905 50904 50903 50902 50901 50900

SOUT#720 SOUT#719 SOUT#718 SOUT#717 SOUT#716 SOUT#715 SOUT#714 SOUT#713

50917 50916 50915 50914 50913 50912 50911 50910

SOUT#728 SOUT#727 SOUT#726 SOUT#725 SOUT#724 SOUT#723 SOUT#722 SOUT#721

50927 50926 50925 50924 50923 50922 50921 50920

SOUT#736 SOUT#735 SOUT#734 SOUT#733 SOUT#732 SOUT#731 SOUT#730 SOUT#729

50937 50936 50935 50934 50933 50932 50931 50930

SOUT#744 SOUT#743 SOUT#742 SOUT#741 SOUT#740 SOUT#739 SOUT#738 SOUT#737

50947 50976 50945 50944 50943 50942 50941 50940

SOUT#752 SOUT#751 SOUT#750 SOUT#749 SOUT#748 SOUT#747 SOUT#746 SOUT#745

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4.10 Specific Output Signals for Spot Welding

Device 4
50957 50956 50955 50954 50953 50952 50951 50950
SOUT#760 SOUT#759 SOUT#758 SOUT#757 SOUT#756 SOUT#755 SOUT#754 SOUT#753

50967 50966 50965 50964 50963 50962 50961 50960

SOUT#768 SOUT#767 SOUT#766 SOUT#765 SOUT#764 SOUT#763 SOUT#762 SOUT#761

50977 50976 50975 50974 50973 50972 50971 50970

SOUT#776 SOUT#775 SOUT#774 SOUT#773 SOUT#772 SOUT#771 SOUT#770 SOUT#769

50987 50986 50985 50984 50983 50982 50981 50980

SOUT#784 SOUT#783 SOUT#782 SOUT#781 SOUT#780 SOUT#779 SOUT#778 SOUT#777

50997 50996 50995 50994 50993 50992 50991 50990

SOUT#792 SOUT#791 SOUT#790 SOUT#789 SOUT#788 SOUT#787 SOUT#786 SOUT#785

51007 51006 51005 51004 51003 51002 51001 51000

SOUT#800 SOUT#799 SOUT#798 SOUT#797 SOUT#796 SOUT#795 SOUT#794 SOUT#793

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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
SOUT#616 SOUT#615 SOUT#614 SOUT#613 SOUT#612 SOUT#611 SOUT#610 SOUT#609

PROHIBIT
START
WORK END WORK
WORK
CONTINUE

50787 50786 50785 50784 50783 50782 50781 50780

SOUT#624 SOUT#623 SOUT#622 SOUT#621 SOUT#620 SOUT#619 SOUT#618 SOUT#617

50797 50796 50795 50794 50793 50792 50791 50790

SOUT#632 SOUT#631 SOUT#630 SOUT#629 SOUT#628 SOUT#627 SOUT#626 SOUT#625

50807 50806 50805 50804 50803 50802 50801 50800

SOUT#640 SOUT#639 SOUT#638 SOUT#637 SOUT#636 SOUT#635 SOUT#634 SOUT#633

50817 50816 50815 50814 50813 50812 50811 50810

SOUT#648 SOUT#647 SOUT#646 SOUT#645 SOUT#644 SOUT#643 SOUT#642 SOUT#641

50827 50826 50825 50824 50823 50822 50821 50820

SOUT#656 SOUT#655 SOUT#654 SOUT#653 SOUT#652 SOUT#651 SOUT#650 SOUT#649

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4.11 Specific Output Signals for General-Purpose Applications

Device 2
50837 50836 50835 50834 50833 50832 80531 50830
SOUT#664 SOUT#663 SOUT#662 SOUT#661 SOUT#660 SOUT#659 SOUT#658 SOUT#657

PROHIBIT
START
WORK END WORK
WORK
CONTINUE

50847 50846 50845 50844 50843 50842 50841 50840

SOUT#672 SOUT#671 SOUT#670 SOUT#669 SOUT#668 SOUT#667 SOUT#666 SOUT#665

50857 50856 50855 50854 50853 50852 50851 50850

SOUT#680 SOUT#679 SOUT#678 SOUT#677 SOUT#676 SOUT#675 SOUT#674 SOUT#673

50867 50866 50865 50864 50863 50862 50861 50860

SOUT#688 SOUT#687 SOUT#686 SOUT#685 SOUT#684 SOUT#683 SOUT#682 SOUT#681

50877 50876 50875 50874 50873 50872 50871 50870

SOUT#696 SOUT#695 SOUT#694 SOUT#693 SOUT#692 SOUT#691 SOUT#690 SOUT#689

50887 50886 50885 50884 50883 50882 50881 50880

SOUT#704 SOUT#703 SOUT#702 SOUT#701 SOUT#700 SOUT#699 SOUT#698 SOUT#697

4-64
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4.11 Specific Output Signals for General-Purpose Applications

Device 3
50897 50896 50895 50894 50893 50892 50891 50890
SOUT#712 SOUT#711 SOUT#710 SOUT#709 SOUT#708 SOUT#707 SOUT#706 SOUT#705

PROHIBIT
START
WORK END WORK
WORK
CONTINUE

50907 50506 50905 50904 50903 50902 50901 50900

SOUT#720 SOUT#719 SOUT#718 SOUT#717 SOUT#716 SOUT#715 SOUT#714 SOUT#713

50917 50916 50915 50914 50913 50912 50911 50910

SOUT#728 SOUT#727 SOUT#726 SOUT#725 SOUT#724 SOUT#723 SOUT#722 SOUT#721

50927 50926 50925 50924 50923 50922 50921 50920

SOUT#736 SOUT#735 SOUT#734 SOUT#733 SOUT#732 SOUT#731 SOUT#730 SOUT#729

50937 50936 50935 50934 50933 50932 50931 50930

SOUT#744 SOUT#743 SOUT#742 SOUT#741 SOUT#740 SOUT#739 SOUT#738 SOUT#737

50947 50976 50945 50944 50943 50942 50941 50940

SOUT#752 SOUT#751 SOUT#750 SOUT#749 SOUT#748 SOUT#747 SOUT#746 SOUT#745

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RE-CKI-A442
4.11 Specific Output Signals for General-Purpose Applications

Device 4
50957 50956 50955 50954 50953 50952 50951 50950
SOUT#760 SOUT#759 SOUT#758 SOUT#757 SOUT#756 SOUT#755 SOUT#754 SOUT#753

50967 50966 50965 50964 50963 50962 50961 50960

SOUT#768 SOUT#767 SOUT#766 SOUT#765 SOUT#764 SOUT#763 SOUT#762 SOUT#761

50977 50976 50975 50974 50973 50972 50971 50970

SOUT#776 SOUT#775 SOUT#774 SOUT#773 SOUT#772 SOUT#771 SOUT#770 SOUT#769

50987 50986 50985 50984 50983 50982 50981 50980

SOUT#784 SOUT#783 SOUT#782 SOUT#781 SOUT#780 SOUT#779 SOUT#778 SOUT#777

50997 50996 50995 50994 50993 50992 50991 50990

SOUT#792 SOUT#791 SOUT#790 SOUT#789 SOUT#788 SOUT#787 SOUT#786 SOUT#785

51007 51006 51005 51004 51003 51002 51001 51000

SOUT#800 SOUT#799 SOUT#798 SOUT#797 SOUT#796 SOUT#795 SOUT#794 SOUT#793

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4.12 Specific Output Signals: Explanation

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 M250 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 M251 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.

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4.12 Specific Output Signals: Explanation

„ 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.

„ 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.

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4.12 Specific Output Signals: Explanation

„ 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.

„ 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.

„ 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.

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4.12 Specific Output Signals: Explanation

„ 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
programming pendant.
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.

For a system with one manipulator, use signal No. 50220.

<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)

„ 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).

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4.12 Specific Output Signals: Explanation

„ 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.

For a system with one manipulator, use signal No. 50270.

„ 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.

For a system with one manipulator, use signal No. 50280.

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.

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RE-CKI-A442
4.12 Specific Output Signals: Explanation

„ 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 R i g h t  A r e a

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).
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.

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4.12 Specific Output Signals: Explanation

„ 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

„ 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.

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4.12 Specific Output Signals: Explanation

„ 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.

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.

For a system with one application, use signal No. 50770.

„ 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.

For a system with one application, use signal No. 50771.

„ 50772, 50832, 50892, 50952: WORK CONTINUING PROHIBIT

Instructions
State These signals indicate whether to continue the operation after stopping during the
operation. When the signals are on, the operation is not continued.

For a system with one application, use signal No. 50772.

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4.12 Specific Output Signals: Explanation

„ 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.

For a system with one application, use signal No. 50773.

„ 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.

For a system with one application, use signal No. 50774.

„ 50775, 50835, 50895, 50955: INCHING

State These signals go ON when using the inching of the work instructions.

For a system with one application, use signal No. 50775.

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.

For a system with one application, use signal No. 50776.

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.

For a system with one application, use signal No. 50777.

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4.12 Specific Output Signals: Explanation

„ 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.

For a system with one application,use signal No. 50784.

„ 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.

For a system with one application,use signal No. 50785.

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4.12 Specific Output Signals: Explanation

„ 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.

For a system with one application,use signal No. 50786.

„ 50787, 50847, 50907, 50967: RETRY REPLAY MODE

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

For a system with one application,use signal No. 50787.

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
exceptional signals that are available for external use.

„ 50776, 50836, 50896, 50956: SHOCK SENSOR FUNCTION

SELECT
State
This signal monitors the status of the shock sensor function use in the handling
application.

For a system with one application,use signal No. 50776.

„ 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.

For a system with one application, use signal No. 50777.

„ 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.

4-77
RE-CKI-A442
4.12 Specific Output Signals: Explanation

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 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) when the signal from sensor
does not turn on/off properly at executing the wear detection with 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) when the electrode wear amount
exceeds the alarm set value (parameter AxP016 and AxP017) at executing the wear
detection.

For a system for one application, use signal No. 50775.

„ 50776, 50786, 50796, 50806: SVSPOT EXECUTE (Motor Gun)

State These signals turn on while a SVSPOT instruction is executing in a job.

For a system for one application, use signal No. 50776.

„ 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 sensor (TWC-B) is execut-
ing by a SVGUNCL instruction.

4-78
 RE-CKI-A442

4.12 Specific Output Signals: Explanation

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
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.

For a system with one application,use signal No. 50770.

„ 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.

For a system with one application,use signal No. 50771.

„ 50772, 50832, 50892, 50952: WORK CONTINUING PROHIBIT

Instructions
State These signals indicate whether to continue the operation after stopping. When the
signals are on, the operation is not continued.

For a system with one application,use signal No. 50772.

4-79
RE-CKI-A442
5.1 Signals for Arc Welding

5 Internal Signal Used in Standard Ladder

5.1 Signals for Arc Welding

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
PSUEDO 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) MEMORY MEMORY PROHIBIT
ERROR)

5-1
 RE-CKI-A442

5.1 Signals for Arc Welding

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 STOP WIRE WIRE GAS GAS
OPERATION (AT ARC SHORTAGE SHORTAGE SHORTAGE SHORTAGE
CONTINUING SHORTAGE MESSAGE MESSAGE MESSAGE MESSAGE
RESTART) CONDITION CONDITION CONDITION CONDITION
WAITING 2 WAITING 1 WAITING 2 WAITING 1

70137 70136 70135 70134 70133 70132 70131 70130

79997 79996 79995 79994 79993 79992 79991 79990

5-2
RE-CKI-A442
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

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

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
 RE-CKI-A442

5.3 Signals for Spot Welding

5.3 Signals for Spot Welding

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

WAITING
REMOTE UNTIL ALARM
SELECT INTRFRNC OCCUR
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

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
RE-CKI-A442
5.3 Signals for Spot Welding

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
 RE-CKI-A442

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
COMPLETED RECEIVING EXT START
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

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

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
RE-CKI-A442
6.1 Internal Control Status Signals

6 Internal Control Status Signals

6.1 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 SAF_F

*SAF_F 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
 RE-CKI-A442

6.1 Internal Control Status Signals

80037 80036 80035 80034 80033 80032 80031 80030

EXSVON EXDSW EXHOLD DSW SVONRDY1 FORCE SVONRDY0

SVONRDY0 Servo ON Condition 1

FORCE Forced Release 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
RE-CKI-A442
6.1 Internal Control Status Signals

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

CPDIN2 (CPRIN2) Direct In (System) 2
CPDIN3 (CPRIN3) Direct In (System) 3
CPDIN4 (CPRIN4) Direct In (System) 4

80087 80086 80085 80084 80083 80082 80081 80080

AXDIN5 AXDIN4 AXDIN3 AXDIN2 AXDIN1

AXDIN1 (RIN1) Direct In (Servo) 1

AXDIN2 (RIN2) Direct In (Servo) 2
AXDIN3 (RIN3) Direct In (Servo) 3
AXDIN4 (RIN4) Direct In (Servo) 4
AXDIN5 (RIN5) Direct In (Servo) 5

6-3
 RE-CKI-A442

6.1 Internal Control Status Signals

80097 80096 80095 80094 80093 80092 80091 80090

80647 80646 80645 80644 80643 80642 80641 80640

6.1.1 Internal Control Status Signal (Monitor)

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.

„ 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
RE-CKI-A442
6.1 Internal Control Status Signals

„ 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
 RE-CKI-A442

6.1 Internal Control Status Signals

„ 80032: FORCED RELEASE INPUT

State
This signal indicates the operation status of the external forced release 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 SAF_F
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
RE-CKI-A442
6.1 Internal Control Status Signals

„ 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 display.

„ 80061: *SERVO ON ENABLED

State
This signal indicates the detecting status of servo ON enabled.
This signal is input from the NIO01 board.

„ 80062: *BRAKE FUSE BLOWN-OFF

State
This signal turns off when the fuse of the brake excitation circuit is blown off.

6-7
 RE-CKI-A442

6.1 Internal Control Status Signals

„ 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 input from the NIO01 board.
This signal is valid when “EMERGENCY STOP” is set for the shock sensor stop
designation in the overrun and shock sensor release display.

„ 80066: *EXTERNAL AXIS OVERTRAVEL

State
This signal turns off when the external axis overrun LS operates.
This signal is input from the NIO01 board.

„ 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
RE-CKI-A442

7 Pseudo Input Signals

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.

7.0.1 Pseudo Input Signals

„ 82014 to 82016: REMOTE FUNCTION SELECTION
State The pseudo input signal display 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 display 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 display allows to set the use of the signals for the spot
welding.
The signals indicate the setting status in the pseudo input signal display. 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
RE-CKI-A442

8 Network Input Signals

Network input signals are related to optional network functions. For the detailed information,
refer to the operator’s manual regarding each network function.

8-1
RE-CKI-A442
9.1 Hardware Specific Input

9 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.

9.1 Hardware Specific Input

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.

9-1
 RE-CKI-A442

9.1 Hardware Specific Input

MXT
CNM +24V2
4 9 SAFF1+ 86
29 10 SAFF1- 36
SAFF1
5 11 SAFF2+ 72 SAFF2
30 12 SAFF2- 22
6 13 FORCE1+ 85
31 14 FORCE1- 36
FORCE1
7 15 FORCE2+ 71 FORCE2
32 16 FORCE2- 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 AXDIN2
50
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

9-2
RE-CKI-A442
9.2 I/O Except Concurrent I/O: Explanation

CAUTION
• Use the “FORCE” (Forced release) input with normally open circuit.
• Use the switch which has the key for “FORCE” input. The system manager is responsible
for storage of the key.
• Any deadman switch is invalid at the "FORCE" input.

9.2 I/O Except Concurrent I/O: Explanation

„ 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.

„ SAF_F: 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 equipments. 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.

9-3
 RE-CKI-A442

9.2 I/O Except Concurrent I/O: Explanation

„ 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.

„ FORCE: FORCED RELEASE INPUT SIGNAL

State This signal disables the deadman switch. Be sure to use a switch with the key for
safety. The system manager is responsible for the key storage.

9-4
RE-CKI-A442
10.1 Common Usage for All Applications

10 Register

10.1 Common Usage for All Applications

10.1.1 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
SYSTEM
RESERVE

10-1
 RE-CKI-A442

10.1 Common Usage for All Applications

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
ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG
OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT
20 19 18 17 16 15 14 13 12 11

M289 M288 M287 M286 M285 M284 M283 M282 M281 M280
ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG
OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT
30 29 28 27 26 25 24 23 22 21

M299 M298 M297 M296 M295 M294 M293 M292 M291 M290
ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG
OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT
40 39 38 37 36 35 34 33 32 31

10-2
RE-CKI-A442
10.1 Common Usage for All Applications

10.1.2 System Register

M309 M308 M307 M306 M305 M304 M303 M302 M301 M300
ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG
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
ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG
INPUT INPUT INPUT INPUT INPUT INPUT INPUT INPUT INPUT INPUT
20 19 18 17 16 15 14 13 12 11

M329 M328 M327 M326 M325 M324 M323 M322 M321 M320
ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG
INPUT INPUT INPUT INPUT INPUT INPUT INPUT INPUT INPUT INPUT
30 29 28 27 26 25 24 23 22 21

M339 M338 M337 M336 M335 M334 M333 M332 M331 M330
ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG ANALOG
INPUT INPUT INPUT INPUT INPUT INPUT INPUT INPUT INPUT INPUT
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

10-3
 RE-CKI-A442

10.1 Common Usage for All Applications

M419 M418 M417 M416 M415 M414 M413 M412 M411 M410

:
:

M459 M458 M457 M456 M455 M454 M453 M452 M451 M450

10-4
RE-CKI-A442
10.2 Arc Welding

10.2 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 N251 N250
STICKING WIRE ANTI NO STICKING ARC
RESTART RETRY OPERATION STICKING ANSWR
RELEASE STICKING CHECK
(PRESENT (PRESENT SWITCH CHECK ERROR
(PRESENT (PRESENT (PRESENT
VALUE) VALUE) (PRESENT (PRESENT (PRESENT
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

10-5
 RE-CKI-A442

10.3 Handling

10.3 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

10-6
RE-CKI-A442
10.4 General Purposes

10.4 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

10-7
 RE-CKI-A442

10.5 Spot Welding

10.5 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

10-8
RE-CKI-A442
11.1 List of Usable Instructions

11 Standard Ladder Program

11.1 List of Usable Instructions

The following table shows a list of usable instructions in concurrent I/O.

SUPPLE-
In the instruction, there are an instruction which uses the memory of one step and an
MENT instruction 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
Relay No. #XXXXX Instruction

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

Relay No. #XXXXX Instruction

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)

11-1
 RE-CKI-A442

11.1 List of Usable Instructions

Instruction Symbol Function Format Remarks

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
• Register (M000-M499)
Curr Value
R Curr value (D)
• Register (M000-M259)
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
Relay No. #XXXXX Instruction
#XXXXX
Exe Condition

PLF Rising down pulse output PLF #XXXXX 1 Step

PLF
Relay No. #XXXXX Instruction
#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
DS1+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 • Register (M000-M499)
D: Destination
DS1-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
binary data (0-65535) Instruction
S2
S1, S2: Source
MUL Exe Condition
• Decimal (0-65535)
Dn • Register (M000-M499)
Dn, Dn+1: Destination
Dn+1,DnS1xS2 Dn: Low data storing register
Arith Flag: (Carry=0); (Zero=0); (Error=0) Dn+1: High data storing reg-
ister
• Register (M000-M299)

11-2
RE-CKI-A442
11.1 List of Usable Instructions

Instruction Symbol Function Format Remarks

DIV S1
Divide 16 bits unsigned DIV S1,S2,D 2 Steps
binary data (0-65535) Instruction
S2
S1, S2: Source
DIV Exe Condition
• Decimal (0-65535)
D • Register (M000-M499)
D: Destination
D(Quotient)ÅS1/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
binary data (0-65535) Instruction
S2
S1, S2: Source
MOD Exe Condition
• Decimal (0-65535)
D • Register (M000-M499)
D: Destination
D(Modulus)ÅS1/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
D • Register (M000-M499)
• Relay No. (byte) #XXXX0
• Relay No. (word)
DÅS W#XXXX0
Arith Flag: Carry=0/1; (Zero=0); Error=0/1
D: Destination
• Register (M000-M299))
• Relay No. (byte) #XXXX0
• 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
D • Register (M000-M499)
• Relay No. (byte) #XXXX0
• Relay No. (word)
DÅS W#XXXX0
Arith Flag: Carry=0/1; (Zero=0); Error=0/1
D: Destination
• Register (M000-M299)
• Relay No. (byte) #XXXX0
• 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
D • Register (M000-M499)
• Relay No. (byte) #XXXX0
• Relay No. (word)
DÅS W#XXXX0
D: Destination
• Register (M000-M299)
• Relay No. (byte) #XXXX0
• Relay No. (word)
W#XXXX0

11-3
 RE-CKI-A442

11.1 List of Usable Instructions

Instruction Symbol Function Format Remarks

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)
D • Register (M000-M499)
• Relay No. (byte) #XXXX0
DS1∩ S2 • Relay No. (word)
W#XXXX0
D: Destination
• Register (M000-M299)
• Relay No. (byte) #XXXX0
• 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
• Register (M000-M499)
D • Relay No. (byte)
W#XXXX0
DS1∪ S2 D: Destination
• Register (M000-M299)
• Relay No. (byte) #XXXX0
• 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 Exe Condition
• Decimal (0-65535)
D • Register (M000-M499)
• Relay No. (byte) #XXXX0
• Relay No. (word)
D(S1∪ S2) ∪ (S1∪ S2)
W#XXXX0
D: Destination
• Register (M000-M299)
• Relay No. (byte) #XXXX0
• 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)
• Register (M000-M499)
• Relay No. (byte) #XXXX0
DS
• Relay No. (word)
W#XXXX0
D: Destination
• Register (M000-M299)
• Relay No. (byte) #XXXX0
• Relay No. (word)
W#XXXX0

11-4
RE-CKI-A442
11.1 List of Usable Instructions

Instruction Symbol Function Format Remarks

SHL Left shift of 8/16 bits data SHL S,n,D 2 Steps
S S: Source Instruction
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
• Register (M000-M299)
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
S S: Source Instruction
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
• Register (M000-M299)
Arith Flag: Carry=0/1; (Zero=0); (Error=0) • Relay No. (byte) #XXXX0
• 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
• Register (M000-M499)
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
• Register (M000-M299)
(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)
D • Register (M000-M499)
• Relay No. (byte) #XXXX0
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)
Arith Flag: Carry=0/1; (Zero=0); (Error=0) • Relay No. (byte) #XXXX0
• Relay No. (word)
W#XXXX0
#XXXXX: Relay No., MXXX: Register Number, YYYY: Numerical Value (0-65535), N:
Numerical Value (1-2)

11-5
 RE-CKI-A442

11.2 Instruction Description

11.2 Instruction Description

Two or more time output to the same relay cannot be used.

NOTE The numbers available for output relays are only 0XXXX, 3XXXX, 4XXXX, and 7XXXX.
Up to 260 TMR/CNT instructions and operation instructions can be registered to use regis-
ters.
The multiple outputs of register that are used as a current value of TMR/CNT instruction
can not be used. However, the multiple outputs of destination register of arithmetic instruc-
tion can be used.

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.

11-6
RE-CKI-A442
11.2 Instruction Description

Ladder Program Example

<Ladder Diagram> < Program>

STR-NOT #70010
OUT #70100

#70010 #70100

AND Instruction
Format
AND #XXXXX
#XXXXX: Relay No.

Function
Performs logical AND operation.

Ladder Program Example

<Ladder Diagram> < Program>

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.
Ladder Program Example

<Ladder Diagram> < Program>

STR #70010
AND-NOT #70011
OUT #70100

#70010 #70011 #70100

11-7
 RE-CKI-A442

11.2 Instruction Description

OR Instruction
Format
OR #XXXXX
#XXXXX: Relay No.

Function
Performs logical OR operation.
Ladder Program Example

<Ladder Diagram> < Program>

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.
Ladder Program Example

<Ladder Diagram> < Program>

STR #70010
OR-NOT #70011
OUT #70100

#70010 #70100

#70011

11-8
RE-CKI-A442
11.2 Instruction Description

AND-STR Instruction
Format
AND-STR

Function
Performs logical AND operation with the preliminary results.
Ladder Program Example

<Ladder Diagram> < Program>

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.
Ladder Program Example

<Ladder Diagram> < Program>

STR #70010
AND #70011
STR #70020
AND #70021
#70010 #70011 #70100 OR-STR
OUT #70100

#70020 #70021

11-9
 RE-CKI-A442

11.2 Instruction Description

OUT Instruction
Format
OUT #XXXXX
#XXXXX: Relay No.

Function
Outputs to the internal or the external.
Ladder Program Example

<Ladder Diagram> < Program>

STR #70010
AND #70011
OUT #70100

#70010 #70011 #70100

NOTE Two or more time output to the same relay cannot be used.

PART Instruction
Format
PART N
N: Ladder Identification Number (1: System Ladder, 2: User Ladder)

Function
Identifies the system ladder from the user ladder.
Ladder Program Example

<Ladder Diagram> < Program>

PART 1
There is no symbol. STR #70010
System OUT #70100
:
PART 2
:

User

END

NOTE This instruction is not displayed in the programming pendant screen.

11-10
RE-CKI-A442
11.2 Instruction Description

END Instruction
Format
END
Function
Ends the ladder program.
Ladder Program Example

<Ladder Diagram> < Program>

STR #70010
There is no symbol. OUT #70100
END

NOTE This instruction is not displayed in the programming pendant screen.

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.
Counting is not performed and Curr Value = Set value is maintained while start input is turning
off. The TMR contact is turning off.
Curr Value is decremented every 0.1 seconds as soon as start input is turning on. The TMR
contact is turning on when Curr Value equals to 0. This state is maintained while start input is
at ON state.

Start Input Curr Value TMR Contact

OFF Set Value OFF
ON (Curr Value > 0 ) Decremented 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

11-11
 RE-CKI-A442

11.2 Instruction Description

Ladder Program Example

The timer is reset when the XRC control power is turned on. Therefore, Curr Value is Set
Value by reset function even if the XRC control power is turned on when start input of the timer
is at ON state.

Two or more time output to the same relay cannot be used.

NOTE The multiple outputs of the register used as a current position of the TMR instruction and
the CNT instruction cannot be used.

<Ladder Diagram> < Program>

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
Counting is not performed and Curr Value = Set value is maintained even if counter input is
turned to on while reset input is turning off.
Curr Value is decremented each time counter input is turning from off to on while reset input is
at OFF state. The TMR contact is turning on when Curr Value equals to 0. This state is

11-12
RE-CKI-A442
11.2 Instruction Description

maintained while reset input is at OFF state.

Start Input Curr Value TMR Contact

OFF Set Value OFF
ON (Curr Value > 0 ) Decremented each time counter OFF
input ON 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

Ladder Program Example

The counter input is ignored once the counter is counted up. Start counting after turning
counter input from on to off. Reset input is given to priority when counter input and reset input
are turned on at the same time.

Two or more time output to the same relay cannot be used.

NOTE The multiple outputs of the register used as a current position of the TMR instruction and
the CNT instruction cannot be used.

<Ladder Diagram> < Program>

STR #70010 Counter Input
STR #7011 Reset Input
CNT M010, 3 CNT instruction
3
C OUT #70100 Output
#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

11-13
 RE-CKI-A442

11.2 Instruction Description

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.

Ladder Program Example

<Ladder Diagram> < Program>

GSTR #20010
GOUT #00010
#20010
GRP
#00010

PLS Instruction
Format
PLS #XXXXX
#XXXXX: Relay No.

Function
Outputs one scanning pulse signal when specified signal is turned from off to on.

NOTE The output cannot be done to the same relay two or more times.

11-14
RE-CKI-A442
11.2 Instruction Description

Ladder Program Example

<Ladder Diagram> < Program>

STR #70010
PLS
PLS #70100
#70010 #70100

ON
Input
(#70010) OFF

ON
Input
(#70100) OFF

1Scan

PLF Instruction
Format
PLF #XXXXX
#XXXXX: Relay No.

Function
Outputs one scanning pulse signal when specified signal is turned from on to off.

Ladder Program Example

<Ladder Diagram> < Program>

STR #70010
PLF #70100
PLF
#70010 #70100

ON
Input
(#70010) OFF

ON
Input
(#70100) OFF

1Scan

11-15
 RE-CKI-A442

11.2 Instruction Description

ADD Instruction
Format
ADD S1, S2, D

S1: Source 1 Register (M000-M499)

Decimal (0-65535)
S1: Source 2 Register (M000-M499)
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 input signal is at 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.

Ladder Program Example

NOTE The multiple outputs of register used as a current position of the TMR instruction and the
CNT instruction cannot be used.

<Ladder Diagram> < Program>

STR #70010
M000 ADD M000,M001,M010
M001
#70010 ADD
M010

11-16
RE-CKI-A442
11.2 Instruction Description

SUB Instruction
Format
SUB S1, S2, D

S1: Source 1 Register (M000-M499)

Decimal (0-65535)
S1: Source 2 Register (M000-M499)
Decimal (0-65535)
D: Destination Register (M000-M299)

Function
S1 and S2 (16 bits unsigned binary data) are subtracted and the subtraction result is output to
D when input signal is at 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)

Unused flag is cleared.

Ladder Program Example

NOTE The multiple outputs of register used as a current position of the TMR instruction and the
CNT instruction cannot be used.

<Ladder Diagram> < Program>

STR #70010
M000 SUB M000,M001,M010
M001
#70010 SUB
M010

11-17
 RE-CKI-A442

11.2 Instruction Description

MUL Instruction
Format
MUL S1, S2, Dn

S1: Source 1 Register (M000-M499)

Decimal (0-65535)
S1: Source 2 Register (M000-M499)
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 at 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)

Unused flag is cleared.

Ladder Program Example

NOTE The multiple outputs of the register used as a current position of the TMR instruction and
the CNT instruction cannot be used.

<Ladder Diagram> < Program>

STR #70010
M000 MUL M000,M001,M010
M001 When results=65536:
#70010 MUL M011=1(0000000000000001 Binary Data)
M010 M010=0(0000000000000000 Binary Data)

11-18
RE-CKI-A442
11.2 Instruction Description

DIV Instruction
Format
DIV S1, S2, D

S1: Source 1 Register (M000-M499)

Decimal (0-65535)
S1: Source 2 Register (M000-M499)
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 input signal is at ON state. As a result of calculation, the error flag (#50642) of a
specific output are 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
Unused flag is cleared.

Ladder Program Example

NOTE The multiple outputs of the register used as a current position of the TMR instruction and
the CNT instruction cannot be used.

<Ladder Diagram> < Program>

STR #70010
M000 DIV M000,M001,M010
M001
#70010 DIV
M010

11-19
 RE-CKI-A442

11.2 Instruction Description

MOD Instruction
Format
MOD S1, S2, D

S1: Source 1 Register (M000-M499)

Decimal (0-65535)
S1: Source 2 Register (M000-M499)
Decimal (0-65535)
D: Destination (Surplus) Register (M000-M299)

Function
S1 and S2 (16 bits unsigned binary data) are divided and the division result (Modulus) is output
to D when input signal is at ON state. As a result of calculation, the error flag (#50642) of a
specific output are 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
Unused flag is cleared.

Ladder Program Example

NOTE The multiple outputs of the register used as a current position of the TMR instruction and
the CNT instruction cannot be used.

<Ladder Diagram> < Program>

STR #70010
M000
MOD M000,M001,M010
M001
#70010 MOD
M010

11-20
RE-CKI-A442
11.2 Instruction Description

BIN Instruction
Format
BIN S, D

S: Source Register (M000-M499)

Relay (byte) #XXXX0
Relay (word) W#XXXX0
D: Destination Register (M000-M299)
Relay (byte) #XXXX0
Relay (word) W#XXXX0

Function
S(BCD data) is converted to binary data and it is output to D when the input signal is at 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) are 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.

Ladder Program Example

The output cannot be done to the same relay two or more times.
NOTE The multiple outputs of the register used as a current position of the TMR instruction and
the CNT instruction cannot be used.

<Ladder Diagram> < Program>

STR #70010
BIN M000,M010
M000
BIN
#70010
M010

11-21
 RE-CKI-A442

11.2 Instruction Description

BCD Instruction
Format
BCD S, D

S: Source Register (M000-M499)

Relay (byte) #XXXX0
Relay (word) W#XXXX0
D: Destination Register (M000-M299)
Relay (byte) #XXXX0
Relay (word) W#XXXX0

Function
S (binary data) is converted to BCD data and it is output to D when the input signal is at 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) are 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.

Ladder Program Example

The output cannot be done to the same relay two or more times.
NOTE The multiple outputs of the register used as a current position of the TMR instruction and
the CNT instruction cannot be used.

<Ladder Diagram> < Program>

STR #70010
BCD M000,M010
M000
BCD
#70010
M010

11-22
RE-CKI-A442
11.2 Instruction Description

MOV Instruction
Format
MOV S, D

S: Source Register (M000-M499)

Decimal (0-65535)
Relay (byte) #XXXX0
Relay (word) W#XXXX0
D: Destination Register (M000-M299)
Relay (byte) #XXXX0
Relay (word) W#XXXX0

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

Ladder Program Example

The output cannot be done to the same relay two or more times.
NOTE The multiple outputs of the register used as a current position of the TMR instruction and
the CNT instruction cannot be used.

<Ladder Diagram> < Program>

STR #70010
MOV M000,M010
M000
MOV
#70010
M010

11-23
 RE-CKI-A442

11.2 Instruction Description

WAND Instruction
Format
WAND S1, S2, D

S1: Source Register (M000-M499)

S2: Source Decimal (0-65535)
Relay (byte) #XXXX0
Relay (word) W#XXXX0
D: Destination Register (M000-M299)
Relay (byte) #XXXX0
Relay (word) W#XXXX0

Function
Logical AND operation between S1 and S2 is performed and the result is output to D when the
input signal is at ON state. The logic operation is performed in each correspondence bit of S1
and S2.
DS1∩S2
S1 1100110011001100 Binary Data
S2 1010101010101010 Binary Data

D 1000100010001000 Binary Data

Ladder Program Example

The output cannot be done to the same relay two or more times.
NOTE The multiple outputs of the register used as a current position of the TMR instruction and
the CNT instruction cannot be used.

<Ladder Diagram> < Program>

STR #70010
M000 WAND M000,M001,M010
M001
#70010 WAND
M010

11-24
RE-CKI-A442
11.2 Instruction Description

WOR Instruction
Format
WOR S1, S2, D

S1: Source Register (M000-M499)

S2: Source Decimal (0-65535)
Relay (byte) #XXXX0
Relay (word) W#XXXX0
D: Destination Register (M000-M299)
Relay (byte) #XXXX0
Relay (word) W#XXXX0

Function
Logical OR operation between S1 and S2 is performed and the result is output to D when the
input signal is at ON state. The logic operation is performed in each correspondence bit of S1
and S2.
DS1∪S2
S1 1100110011001100 Binary Data
S2 1010101010101010 Binary Data

D 1110111011101110 Binary Data

Ladder Program Example

The output cannot be done to the same relay two or more times.
NOTE The multiple outputs of the register used as a current position of the TMR instruction and
the CNT instruction cannot be used.

<Ladder Diagram> < Program>

STR #70010
M000 WOR M000,M001,M010
M001
#70010 WOR
M010

11-25
 RE-CKI-A442

11.2 Instruction Description

WXOR Instruction
Format
WXOR S1, S2, D

S1: Source Register (M000-M499)

S2: Source Decimal (0-65535)
Relay (byte) #XXXX0
Relay (word) W#XXXX0
D: Destination Register (M000-M299)
Relay (byte) #XXXX0
Relay (word) W#XXXX0

Function
Exclusive OR operation between S1 and S2 is performed and the result is output to D when
the input signal is at ON state. The logic operation is performed in each correspondence bit of
S1 and S2.

D(S1∪S2)∩(S1∪S2)
S1 1100110011001100 Binary Data
S2 1010101010101010 Binary Data

D 0110011001100110 Binary Data

Ladder Program Example

The output cannot be done to the same relay two or more times.
NOTE The multiple outputs of the register used as a current position of the TMR instruction and
the CNT instruction cannot be used.

<Ladder Diagram> < Program>

STR #70010
M000 WXOR M000,M001,M010
M001
#70010 WXOR
M010

11-26
RE-CKI-A442
11.2 Instruction Description

WNOT Instruction
Format
WNOT S, D

S: Source Register (M000-M499)

Decimal (0-65535)
Relay (byte) #XXXX0
Relay (word) W#XXXX0
D: Destination Register (M000-M299)
Relay (byte) #XXXX0
Relay (word) W#XXXX0

Function
Logical negation operation of S is performed and the result is output to D when the input
signal is at ON state. The logic operation is performed in each correspondence bit of S1 and
S2.
DS
S1 1100110011001100 Binary Data

D 0011001100110011 Binary Data

Ladder Program Example

The output cannot be done to the same relay two or more times.
NOTE The multiple outputs of the register used as a current position of the TMR instruction and
the CNT instruction cannot be used.

<Ladder Diagram> < Program>

STR #70010
WNOT M000,M010
M000
WNOT
#70010
M010

11-27
 RE-CKI-A442

11.2 Instruction Description

SHL Instruction
Format
SHL S, n, D

S: Source Register (M000-M499)

Decimal (0-65535)
Relay (byte) #XXXX0
Relay (word) W#XXXX0
n: Shift count Decimal (0-16)
D: Destination Register (M000-M299)
Relay (byte) #XXXX0
Relay (word) W#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 at 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

Ladder Program Example

The output cannot be done to the same relay two or more times.
NOTE The multiple outputs of the register used as a current position of the TMR instruction and
the CNT instruction cannot be used.
The operation is performed each scanning when the input signal is at ON state. Use the
pulse output instruction (PLS, PLF) in the input circuit for one time operation.

<Ladder Diagram> < Program>

STR #70010
M000 SHL M000,1,M010
1
#70010 SHL When M000 = 1000100010001000
M010 (binary data), the result is as follow.
M010: 0001000100010000
Carry flag: 1

11-28
RE-CKI-A442
11.2 Instruction Description

SHR Instruction
Format
SHR S, n, D

S: Source Register (M000-M499)

Decimal (0-65535)
Relay (byte) #XXXX0
Relay (word) W#XXXX0
n: Shift count Decimal (0-16)
D: Destination Register (M000-M299)
Relay (byte) #XXXX0
Relay (word) W#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 at 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

Ladder Program Example

The output cannot be done to the same relay two or more times.
NOTE The multiple outputs of the register used as a current position of the TMR instruction and
the CNT instruction cannot be used.
The operation is performed each scanning when the input signal is at ON state. Use the
pulse output instruction (PLS, PLF) in the input circuit for one time operation.

<Ladder Diagram> < Program>

STR #70010
M000 SHR M000,1,M010
1
#70010 SHR When M000 = 1000100010001000
M010 (binary data), the result is as follow.
M010: 0100010001000100
Carry flag: 0

11-29
 RE-CKI-A442

11.2 Instruction Description

ROL Instruction
Format
ROL S, n, D

S: Source Register (M000-M499)

Decimal (0-65535)
Relay (byte) #XXXX0
Relay (word) W#XXXX0
n: Shift count Decimal (0-16)
D: Destination Register (M000-M299)
Relay (byte) #XXXX0
Relay (word) W#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 at 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

Ladder Program Example

The output cannot be done to the same relay two or more times.
NOTE The multiple outputs of the register used as a current position of the TMR instruction and
the CNT instruction cannot be used.
The operation is performed each scanning when the input signal is at ON state. Use the
pulse output instruction (PLS, PLF) in the input circuit for one time operation.

<Ladder Diagram> < Program>

STR #70010
M000 ROL M000,1,M010
1
#70010 ROL When M000 = 1000100010001000
M010 (binary data), the result is as follow.
M010: 0001000100010001
Carry flag: 1

11-30
RE-CKI-A442
11.2 Instruction Description

ROR Instruction
Format
ROR S, n, D

S: Source Register (M000-M499)

Decimal (0-65535)
Relay (byte) #XXXX0
Relay (word) W#XXXX0
n: Shift count Decimal (0-16)
D: Destination Register (M000-M299)
Relay (byte) #XXXX0
Relay (word) W#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 at 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

Ladder Program Example

The output cannot be done to the same relay two or more times.
NOTE The multiple outputs of the register used as a current position of the TMR instruction and
the CNT instruction cannot be used.
The operation is performed each scanning when the input signal is at ON state. Use the
pulse output instruction (PLS, PLF) in the input circuit for one time operation.

<Ladder Diagram> < Program>

STR #70010
M000 ROL M000,1,M010
1
#70010 ROR When M000 = 1000100010001000
M010 (binary data), the result is as follow.
M010: 0100010001000100
Carry flag: 0

11-31
 RE-CKI-A442

11.3 Arithmetic Flag

11.3 Arithmetic Flag

Flag Type
The arithmetic flag is a signal to reflect calculation result in the operation of the next steps.
There are three types of flags. These flags are allocated to the following specific output.

• #50640: Carry Flag

• #50641: Zero Flag
• #50642: Error Flag

SUPPLE-
MENT
Refer to “1.13.1 List of Usable Instructions” for the instruction which influences the flag.

Carry Flag
Case of ADD Instruction:
This flag is set when the digit going up occurs 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.

11-32
RE-CKI-A442
11.4 Arc Welding

11.4 Arc Welding

Ladder Program List

System Ladder Section
Standard ladders are prepared for each application prior to shipment. Ladder programs
cannot be edited.

( ) 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

11-33
 RE-CKI-A442

11.4 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

#70552
MOTOR REVERSE
( )
ROTATION MEMORY
#70061 #70060 #70066 #70053

#70553
MOTOR FORWAD
( )
ROTATION PERMIT
#70053 #70054

#70551
MOTOR REVERSE
( )
ROTATION PERMIT
#70052 #70055

#70551
( ) 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

11-34
RE-CKI-A442
11.4 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

11-35
 RE-CKI-A442

11.4 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
( ) WIRE STICKING DETECTION
#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
#70156 #40153 MESSAGE CODE d3
( ) SYSTEME SECTION
#70115 #40011 MESSAGE REQUEST

#50780

#50781

#50782

#70100

#70156

11-36
RE-CKI-A442
11.4 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

( ) WIRE STICKING CHECK

#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
ARC SHORTAGE REQUEST
( )
DELAY TIME 20ms
#70150 #70151
ARC SHORTAGE REQUEST
( )
DELAY TIME 10ms
#40580 #70150
GAS SHORTAGE MESSAGE
( )
CONDITION
#70121 #50781 #70042 #70106

#50783 #70097

#70104

#70106
GAS SHORTAGE MESSAGE
( )
CONDITION WAITING 2
#70120 #70121
GAS SHORTAGE MESSAGE
( )
CONDITION WAITING 1
#40581 #70120

11-37
 RE-CKI-A442

11.4 Arc Welding

( ) WIRE SHORTAGE MESSAGE

#70123 #50782 #70043 #70107 CONDITION

#50783 #70097

#70104

#70107
( ) WIRE SHORTAGE MESSAGE
#70122 #70123 CONDITION WAITING 2

( ) WIRE SHORTAGE MESSAGE

#40582 #70122 CONDITION WAITING 1

( ) 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

11-38
RE-CKI-A442
11.4 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
( ) MASTER JOB CALL
#20012 #40030
( ) ALARM/ERROR RESET
#20013 #40014
( ) INTERFERENCE 1
#20020 #70030 ENTRANCE PROHIBIT
( ) INTERFERENCE 2
#20021 #70031 ENTRANCE PRHIBIT
( ) WORK PROHIBIT
#20022 #70046 (ARC OCCURRENCE PROHIBIT)
( ) WORK RESPONSE
#20023 #70045 (PSEUDO ARC ON RESPONSE)
( ) WEAVING PROHIBIT
#20026 #40047
( ) SENSING PROHIBIT
#20027 #40600
( ) ARC SHORTAGE RESTART
#11284 #70101 MEMORY RESET
( ) RESTART RESET
#11285 #40583 REQUEST
( ) OPERATING
#50070 #30010
( ) SERVO ON
#50073 #30011
( ) TOP MASTER JOB
#50020 #30012
( ) ALARM/ERROR
#70020 #30013 OCCURRENCE

#50014
( ) BATTERY ALARM
#50015 #30014

#50016
( ) REMOTE MODE SELECTING
#40057 #30015

#50056
( ) PLAY MODE SELECTING
#50054 #30016
( ) TEACH MODE SELECTING
#50053 #30017
( ) IN CUBE 1
#70034 #30020
( ) IN CUBE 2
#70035 #30021
( ) WORK HOME POSITION
#50137 #30022 (IN CUBE 48)
( ) SEQUENCE EXECUTING
#50220 #30023
( ) GAS SHORTAGE
#21210 #30024 (MONITOR)
( ) WIRE SHORTAGE
#21211 #30025 (MONITOR)
( ) WIRE STICKING
#70080 #30026 (MONITOR)
( ) ARC SHORTAGE
#21212 #70066 #30027 (MONITOR)

GRP
#20030
#00010

GRP
#20040
#00020

GRP
#20050
#00030

GRP
#20060
#00040

11-39
 RE-CKI-A442

11.4 Arc Welding

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

GRP
#20200
#00180

GRP
#20210
#00190

GRP
#20220
#00200

GRP
#20230
#00210

GRP
#20240
#00220

11-40
RE-CKI-A442
11.4 Arc Welding

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

GRP
#20380
#00360

GRP
#20390
#00370

GRP
#20400
#00380

GRP
#20410
#00390

GRP
#20420
#00400

11-41
 RE-CKI-A442

11.4 Arc Welding

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

GRP
#20560
#00540

GRP
#20570
#00550

GRP
#20580
#00560

GRP
#20590
#00570

GRP
#20600
#00580

11-42
RE-CKI-A442
11.4 Arc Welding

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

GRP
#20740
#00720

GRP
#20750
#00730

GRP
#20760
#00740

GRP
#20770
#00750

GRP
#20780
#00760

11-43
 RE-CKI-A442

11.4 Arc Welding

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

GRP
#20920
#00900

GRP
#20930
#00910

GRP
#20940
#00920

GRP
#20950
#00930

GRP
#20960
#00940

11-44
RE-CKI-A442
11.4 Arc Welding

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

GRP
#21100
#01080

GRP
#21110
#01090

GRP
#21120
#01100

GRP
#21130
#01110

GRP
#21140
#01120

11-45
 RE-CKI-A442

11.4 Arc Welding

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

GRP
#10050
#30070

GRP
#10060
#30080

GRP
#10070
#30090

GRP
#10080
#30100

GRP
#10090
#30110

GRP
#10100
#30120

GRP
#10110
#30130

GRP
#10120
#30140

11-46
RE-CKI-A442
11.4 Arc Welding

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

GRP
#10240
#30260

GRP
#10250
#30270

GRP
#10260
#30280

GRP
#10270
#30290

GRP
#10280
#30300

GRP
#10290
#30310

GRP
#10300
#30320

11-47
 RE-CKI-A442

11.4 Arc Welding

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

GRP
#10470
#30490

GRP
#10480
#30500

11-48
RE-CKI-A442
11.4 Arc Welding

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

GRP
#10650
#30670

GRP
#10660
#30680

11-49
 RE-CKI-A442

11.4 Arc Welding

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

GRP
#10830
#30850

GRP
#10840
#30860

11-50
RE-CKI-A442
11.4 Arc Welding

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

GRP
#11010
#31030

GRP
#11020
#31040

11-51
 RE-CKI-A442

11.4 Arc Welding

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

11-52
RE-CKI-A442
11.4 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

11-53
 RE-CKI-A442

11.4 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
10
11
12
13
14
15
16
17
18
19
20
21
:
63
User Section
64
65
66
67
68
69
:
127

11-54
RE-CKI-A442
11.4 Arc Welding

„ USER OPEN SIGNALS

Editing of system ladder is impossible, however, the seven signals which are necessary for
user’s 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.

11-55
 RE-CKI-A442

11.4 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 “ARCCUR” instruction before the wire operation.
For a system with one application, use output No. 1023 or 1024.

11-56
RE-CKI-A442
11.5 Handling

11.5 Handling

„ LADDER PROGRAM LIST

System Ladder Section
Standard ladders are prepared for each application prior to shipment. Ladder programs
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
#50080 #40090 #70021 INTERFERENCE IS OFF

#50081

#50082

#50083

#50084

#50085

#50086

#70021 #50076 #50070

11-57
 RE-CKI-A442

11.5 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
(  ) ALARM OCCURRENCE
#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
(  ) WORK START RESPONSE
#50770 #40570
(  ) WORK END RESPONSE
#50771 #40571
(  ) WORK OPERATING
#70050 #50070 #70051
(  ) WORK TIME MEASURE
#70051 #40572
(  ) WORK INSTRUCTION
#70050 #50772 #50070 #70052 CONTINUING PROHIBIT

11-58
RE-CKI-A442
11.5 Handling

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 #50073 #40044
(  ) MASTER JOB CALL
#20012 #40030
(  ) ALARM/ERROR RESET
#20013 #40014
(  ) INTERFERENCE 1
#20020 #70030 ENTRANCE PROHIBIT
(  ) INTERFERENCE 2
#20021 #70031 ENTRANCE PROHIBIT
(  ) 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
(  ) REMOTE MODE SELECTING
#40057 #30015

#50056
(  ) PLAY MODE SELECTING
#50054 #30016
(  ) TEACH MODE SELECTING
#50053 #30017
(  ) IN CUBE 1
#70034 #30020
(  ) IN CUBE 2
#70035 #30021
(  ) WORK HOME POSITION
#50137 #30022 (IN CUBE 48)
(  ) SEQUENCE EXECUTING
#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

11-59
 RE-CKI-A442

11.5 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

11-60
RE-CKI-A442
11.5 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

11-61
 RE-CKI-A442

11.5 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

11-62
RE-CKI-A442
11.5 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

11-63
 RE-CKI-A442

11.5 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

11-64
RE-CKI-A442
11.5 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

11-65
 RE-CKI-A442

11.5 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

11-66
RE-CKI-A442
11.5 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

11-67
 RE-CKI-A442

11.5 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

11-68
RE-CKI-A442
11.5 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

11-69
 RE-CKI-A442

11.5 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

11-70
RE-CKI-A442
11.5 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

11-71
 RE-CKI-A442

11.5 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

11-72
RE-CKI-A442
11.5 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

11-73
 RE-CKI-A442

11.5 Handling

„ I/O ALARM

Alarm No. Register No. I/O Alarm Message

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

11-74
RE-CKI-A442
11.5 Handling

„ I/O Message

Register No. 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

11-75
 RE-CKI-A442

11.6 Spot Welding

11.6 Spot Welding

„ Ladder Program List

System Ladder Section
Standard ladders are prepared for each application prior to shipment. Ladder programs
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
#50080 #40090 #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
(  ) 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 

11-76
RE-CKI-A442
11.6 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
#70090 #40011 ALARM REQUEST

#70091

#70093

#70094
(  ) SYSTEM SECTION
#70091 #70090 #40150 MESSAGE CODE d0

#70094 #70093
(  ) SYSTEM SECTION
#70093 #70090 #70091 #40151 MESSAGE CODE d1

#70094

11-77
 RE-CKI-A442

11.6 Spot 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 #82027 #70010
( ) MASTER JOB CALL
#20012 #40030
( ) ALARM/ERROR RESET
#20013 #40014
( ) INTERFERENCE 1
#20020 #70030 ENTRANCE PROHIBIT
( ) INTERFERENCE 2
#20021 #70031 ENTRANCE PROHIBIT
( ) WELD ON/OFF REQUEST
#20022 #70040
( ) WELDING STOP INPUT
#20023 #70041
( ) INTERFERENCE 3
#20024 #70032 ENTRANCE PROHIBIT
( ) INTERFERENCE 4
#20025 #70033 ENTRANCE PROHIBIT
( ) OPERATING
#50070 #30010
( ) SERVO ON
#50073 #30011
( ) TOP MASTER JOB
#50020 #30012
( ) ALARM/ERROR
#70020 #30013 OCCURRENCE

#50014
( ) BATTERY ALARM
#50015 #30014

#50016
( ) REMOTE MODE SELECTING
#40057 #30015

#50056
( ) PLAY MODE SELECTING
#50054 #30016
( ) TEACH MODE SELECTING
#50053 #30017
( ) IN CUBE 1
#70034 #30020
( ) IN CUBE 2
#70035 #30021
( ) WORK HOME POSITION
#50137 #30022 (IN CUBE 32)
( ) SEQUENCE EXECUTING
#50220 #30023
( ) IN CUBE 3
#70036 #30024
( ) IN CUBE 4
#70037 #30025

GRP
#20030
#00010

( ) ERROR INPUT OF WELD

#20040 #82020 TMR #70050 TIMER COOLING WATER
M460
M250

( ) ERROR INPUT OF GUN

#20041 #82021 TMR #70054 COOLING WATER
M461
M251

( ) TRANS THERMO ERROR INPUT

#20042 #82022 #70060
( ) ERROR INPUT OF
#20043 #82023 TMR #70064 AIR PRESSURE LOW
M462
M252

( ) TIMER COOLING WATER

#20040 #82020 #00020 ERROR(INO09
( ) GUN COOLING WATER
#20041 #82021 #00021 ERROR(INO10

11-78
RE-CKI-A442
11.6 Spot Welding

(  ) TRANS THERMO
#20042 #82022 #00022 ERROR IN011
(  ) AIR PRESSURE LOW
#20043 #82023 #00023 ERROR(INO012
(  ) WELD COMPLETE
#20044 #82027 #00024 (INO13

#10021 #82027
(  ) WELDING ERROR
#20045 #00025 IN014
(  ) GUN OPEN DETECTION
#20046 #00026 IN015
(  ) TIP REPLACEMENT
#20047 #00027 COMPLETE IN016

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

GRP
#20170
#00150

GRP
#20180
#00160

GRP
#20190
#00170

11-79
 RE-CKI-A442

11.6 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

11-80
RE-CKI-A442
11.6 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

11-81
 RE-CKI-A442

11.6 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

11-82
RE-CKI-A442
11.6 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

11-83
 RE-CKI-A442

11.6 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

11-84
RE-CKI-A442
11.6 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

11-85
 RE-CKI-A442

11.6 Spot Welding

GRP
#21280
#01260

GRP
#10010
#30030

(  ) TIP REPLACEMENT
#10020 #30040 COMPLETE OUTO09
(  ) 1ST PRESSURE 
#10021 #30041 COMPLETE OUTO10
(  ) OUTO11
#10022 #30042
(  ) OUTO12
#10023 #30043
(  ) OUTO13
#10024 #30044
(  ) OUTO14
#10025 #30045
(  ) OUTO15
#10026 #30046
(  ) OUTO16
#10027 #30047
(  ) WELDING ON/OFF
#10030 #82024 #30050 OUT017

#70070 #82024
(  ) WELDING ERROR
#10031 #30051 RESET OUTO18
(  ) WELDING CONDITION 1
#10032 #30052 OUTO19
(  ) WELDING CONDITION 2
#10033 #30053 OUTO20
(  ) WELDING CONDITION 3
#10034 #30054 OUTO21
(  ) WELDING CONDITION 4
#10035 #30055 OUTO22
(  ) SHUT OFF VALVE 1
#10036 #82025 #20041 #30056 OUTO23

#50073 #82025 #70100

(  ) INITIAL THROUGH 1
#10036 #82025 50 #70100
TMR
M050
#50073 #82025
(  ) SHUT OFF VALVE 2
#10037 #82025 #20043 #30057 OUTO24

#50073 #82025 #70101

(  ) INITIAL THROUGH 2
#10037 #82025 50 #70101
TMR
M051
#50073 #82025

GRP
#10040
#30060

GRP
#10050
#30070

GRP
#10060
#30080

GRP
#10070
#30090

GRP
#10080
#30100

11-86
RE-CKI-A442
11.6 Spot Welding

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

GRP
#10240
#30260

11-87
 RE-CKI-A442

11.6 Spot Welding

(  ) SERVO AUTO OFF
#80011 #70102 AUXILIARY 1

#80012

#80013

#80015

#80016

#80017

#80034

#80035

(  ) SERVO AUTO OFF
#80037 PLS AUXILIARY 2
#70103

(  ) SERVO AUTO OFF
#40014 #70104 AUXILIARY 3

#40044

#40045

#40060

#40064

#40067

#40090

#50070
(  ) SERVO AUTO OFF
#40050 #70105 AUXILIARY 4

#40051

#40052

#40042

#40056

#40057
(  ) SERVO AUTO OFF
#70102 #70106 RESULT

#70103

#70104

#70105
(  ) EXTERNAL SERVO OFF 1
#50170 #70106 #82026 3000 #40077 (REDUCTION STOP)
TMR
M052
GRP
#10250
#30270

GRP
#10260
#30280

GRP
#10270
#30290

GRP
#10280
#30300

11-88
RE-CKI-A442
11.6 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

11-89
 RE-CKI-A442

11.6 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

11-90
RE-CKI-A442
11.6 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

11-91
 RE-CKI-A442

11.6 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

11-92
RE-CKI-A442
11.6 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

11-93
 RE-CKI-A442

11.6 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

11-94
RE-CKI-A442
11.6 Spot Welding

„ I/O Alarm

Alarm No. Register No. I/O Alarm Message

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

11-95
 RE-CKI-A442

11.6 Spot Welding

„ I/O Message

Register No. 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

11-96
RE-CKI-A442
11.7 General-Purpose Applications

11.7 General-Purpose Applications

„ LADDER PROGRAM LIST

System Ladder Section
Standard ladders are prepared for each application prior to shipment. Ladder programs
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
#50080 #40090 #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 #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
(  ) WORK INSTRUCTION
#50770 #50771 #70042 #70043 #70040

#70040
(  ) WORK START RESPONSE
#50770 #40570
(  ) WORK END RESPONSE
#50771 #40571
(  ) WORK OPERATING
#70040 #50070 #70041
(  ) WORK TIME MEASURE
#70041 #40572
(  ) WORK INSTRUCTION
#70040 #50772 #50070 #70042 CONTINUING PROHIBIT

11-97
 RE-CKI-A442

11.7 General-Purpose Applications

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
(  ) MASTER JOB CALL
#20012 #40030
(  ) ALARM/ERROR RESET
#20013 #40014
(  ) INTERFERENCE 1
#20020 #70030 ENTRANCE PROHIBIT
(  ) INTERFERENCE 2
#20021 #70031 ENTRANCE PROHIBIT
(  ) WORK PROHIBIT
#20022 #70043
(  ) INTERFERENCE 3
#20024 #70032 ENTRANCE PROHIBIT
(  ) INTERFERENCE 4
#20025 #70033 ENTRANCE PROHIBIT
(  ) OPERATING
#50070 #30010
(  ) SERVO ON
#50073 #30011
(  ) TOP MASTER JOB
#50020 #30012
(  ) ALARM/ERROR
#70020 #30013 OCCURRENCE

#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
(  ) WORK HOME POSITION
#50137 #30022 (IN CUBE 48)
(  ) SEQUENCE EXECUTING
#50220 #30023
(  ) IN CUBE 3
#70036 #30024
(  ) IN CUBE 4
#70037 #30025
(  ) WORK INSTRUCTION
#70040 #30026

GRP
#20030
#00010

GRP
#20040
#00020

GRP
#20050
#00030

GRP
#20060
#00040

GRP
#20070
#00050

11-98
RE-CKI-A442
11.7 General-Purpose Applications

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

11-99
 RE-CKI-A442

11.7 General-Purpose Applications

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

11-100
RE-CKI-A442
11.7 General-Purpose Applications

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

11-101
 RE-CKI-A442

11.7 General-Purpose Applications

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

11-102
RE-CKI-A442
11.7 General-Purpose Applications

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

11-103
 RE-CKI-A442

11.7 General-Purpose Applications

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

11-104
RE-CKI-A442
11.7 General-Purpose Applications

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

11-105
 RE-CKI-A442

11.7 General-Purpose Applications

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

11-106
RE-CKI-A442
11.7 General-Purpose Applications

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

11-107
 RE-CKI-A442

11.7 General-Purpose Applications

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

11-108
RE-CKI-A442
11.7 General-Purpose Applications

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

11-109
 RE-CKI-A442

11.7 General-Purpose Applications

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

11-110
RE-CKI-A442
11.7 General-Purpose Applications

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

11-111
 RE-CKI-A442

11.7 General-Purpose Applications

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

11-112
RE-CKI-A442
11.7 General-Purpose Applications

„ I/O ALARM

Alarm No. Register No. I/O Alarm Message

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

11-113
 RE-CKI-A442

11.7 General-Purpose Applications

„ I/O MESSAGE

Register No. 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

11-114
RE-CKI-A442
12.1 Monitoring I/O Signals

12 How to Monitor Signals

12.1 Monitoring I/O Signals

Signal status can be monitored in the following displays.

• To monitor by logic No. (20010, 20011, etc.) ..................... C.I/O monitor display
• To monitor by I/O No. (IN# 001, OUT# 001, etc.) ............ I/O status display

12.1.1 I/O Display

The following shows an example of an I/O monitor display. The example indicates the display
of general input signals which can be also applied to other displays.

Operation Explanation
1 Select {IN/OUT} under the
main menu
2 Select {GENERAL OUTPUT}
DATA EDIT DISPLAY UTILITY

GENERAL OUTPUT

LOGIC NO. 7654_3210

#1001X 0111_1011
#1002X 0000_0000 #1002X
#1003X 0000_0000
#1004X 1111_0000 General Output Signal
#1005X 0000_0000 #10020 Contents
#1006X 0000_1010
#1007X 0000_0000
0 OFF, 1 ON
#1008X 0000_0000

Main Menu ShortCut

#XXXX0

12-1
 RE-CKI-A442

12.2 I/O Status Display

12.2 I/O Status Display

Signal status can be monitored by using input number (IN#) or output number (OUT#) in the
display. In addition, signal names can also be monitored.

Operation Explanation
1 Select {DISPLAY} under the
menu
2 Select {DETAILS} The general output display appears.

DATA EDIT DISPLAY UTILITY

GENERAL OUTPUT

GROUP OG#01 123 10 DEC 7b 16 DEC

OUT#0001 #10010
OUT#0002 #10011
OUT#0003 #10012
OUT#0004 #10013
OUT#0005 #10014
OUT#0006 #10015
OUT#0007 #10016
OUT#0008 #10017

Main Menu ShortCut

General Output Status : ON : OFF

In the general output status display, an output signal on/off status can be changed. Once the
status is changed, that status is maintained unless the next output instruction is executed.

12-2
RE-CKI-A442
12.2 I/O Status Display

Operation Explanation
1 Select the signal to be The general output display appears. Move the cursor to the
changed
or of the signal to be changed.

DATA EDIT DISPLAY UTILITY

GENERAL OUTPUT

GROUP OG#01 122 10 DEC 7a 16 DEC

OUT#0001 #10010
OUT#0002 #10011
OUT#0003 #10012
OUT#0004 #10013
OUT#0005 #10014
OUT#0006 #10015
OUT#0007 #10016
OUT#0008 #10017

Main Menu ShortCut

2 Select the signal status Move the cursor to the signal status to be changd, and press
[INTERLOCK]+[SELECT]. The status changes : ON status
:OFF status.
DATA EDIT DISPLAY UTILITY

GENERAL OUTPUT

GROUP OG#01 122 10 DEC 7a 16 DEC

OUT#0001 #10010
OUT#0002 #10011
OUT#0003 #10012
OUT#0004 #10013
OUT#0005 #10014
OUT#0006 #10015
OUT#0007 #10016
OUT#0008 #10017

Main Menu ShortCut

12-3
 RE-CKI-A442

12.2 I/O Status Display

The relationship between the logic number and the I/O number:
The relation between a logical number and the I/O number is as follows.

Logic Number

I/O Number

00017 00016 00015 00014 00013 00012 00011 00010

IN#008 IN#007 IN#006 IN#005 IN#004 IN#003 IN#002 IN#001

00027 00026 00025 00024 00023 00022 00021 00020

IN#016 IN#015 IN#014 IN#013 IN#012 IN#011 IN#010 IN#009

:
:

10017 10016 10015 10014 10013 10012 10011 10010

OUT#008 OUT#007 OUT#006 OUT#005 OUT#004 OUT#003 OUT#002 OUT#001

10027 10026 10025 10024 10023 10022 10021 10020

OUT#016 OUT#015 OUT#014 OUT#013 OUT#012 OUT#011 OUT#010 OUT#009

40017 40016 40015 40014 40013 40012 40011 40010

SIN#008 SIN#007 SIN#006 SIN#005 SIN#004 SIN#003 SIN#002 SIN#001

40027 40026 40025 40024 40023 40022 40021 40020

SIN#016 SIN#015 SIN#014 SIN#013 SIN#012 SIN#011 SIN#010 SIN#009

50017 50016 50015 50014 50013 50012 50011 50010

SOUT SOUT SOUT SOUT SOUT SOUT SOUT SOUT

#008 #007 #006 #005 #004 #003 #002 #001

50027 50026 50025 50024 50023 50022 50021 50020

SOUT SOUT SOUT SOUT SOUT SOUT SOUT SOUT

#016 #015 #014 #013 #012 #011 #010 #009

12-4
RE-CKI-A442
12.3 Pseudo Input Signal Display

12.3 Pseudo Input Signal Display

The pseudo input signal status can be checked, and see also signal name.

Operation Explanation
1 Select {IN/OUT} under the
main menu
2 Select {PSEUDO INPUT SIG} The pseudo input signal display appears..
DATA EDIT DISPLAY UTILITY

PSEUDO INPUT SIGNAL

SYSTEM SECTION
#82010
#82011
#82012
#82013
#82014 PROHIBIT IO
#82015 CMD REMOTE SEL
#82016 PROHIBIT PP/PANEL
#82017

Main Menu ShortCut

3 BACK
The system section (#82010-#82097) and the user section
Press the page key PAGE
(#82100-#82127) are changed alternately with the page key
BACK

PAGE
.

12-5
 RE-CKI-A442

12.3 Pseudo Input Signal Display

The signal can be turned ON/OFF in the pseudo input signal display in the management
mode.

Operation Explanation
1 Select signal name to be Move the cursor to the signal status to be changd. The signal sta-
changed tus is indicated as either “ ” or , “ ”.
DATA EDIT DISPLAY UTILITY

PSEUDO INPUT SIGNAL

SYSTEM SECTION
#82010
#82011
#82012
#82013
#82014 PROHIBIT IO
#82015 CMD REMOTE SEL
#82016 PROHIBIT PP/PANEL
#82017

Main Menu ShortCut

2 Select signal status “ ” and “ ” are changed alternately by pressing [INTER-

LOCK]+[SELECT].

12-6
RE-CKI-A442
12.3 Pseudo Input Signal Display

Signal name can be registered in the pseudo input signal display in the management mode
.
Operation Explanation
1 Select the signal name to be Move the cursor to the name of desired signal and press
changed [ENTER]. The input buffer line is displayed. Enter half point char-
acters within 8 letters.
DATA EDIT DISPLAY UTILITY

PSEUDO INPUT SIGNAL

USER SECTION
#82100
#82101
#82102
#82103
#82104
#82105
#82106
#82107

Main Menu ShortCut

JOB EDIT DISPLAY UTILITY

[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 ShortCut ! Turn on servo power

2 Input signal name

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

DATA EDIT DISPLAY UTILITY

PSEUDO INPUT SIGNAL

USER SECTION
#82100 WORK PROHIBIT
#82101
#82102
#82103
#82104
#82105
#82106
#82107

Main Menu ShortCut

12-7
 RE-CKI-A442

12.4 Register Display

12.4 Register Display

The register can be confirmed in the Register display.

Operation Explanation
1 Select {IN/OUT} under the
main menu
2 Select {REGISTER} The register display appears.

DATA EDIT DISPLAY UTILITY

REGISTER

NO. SET VALUE

M000 0 0000_0000_0000_0000
M001 1 0000_0000_0000_0001 Binary
M002 2 0000_0000_0000_0010
M003 4 0000_0000_0000_0100 Decimal
M004 8 0000_0000_0000_1000
M005 16 0000_0000_0001_0000
M006 32 0000_0000_0010_0000
M007 64 0000_0000_0100_0000

Main Menu ShortCut

3 Move the cursor to a desired When a desired register No. is not displayed, move the cursor in
register No the following manner. Move the cursor to “NO.” and press
[SELECT]. Enter a desired register No. using the NUMBER
KEYS, then press [ENTER]. The cursor moves to the entered
register No.
DATA EDIT DISPLAY UTILITY

REGISTER

NO. SET VALUE

The cursor moves M055 128 0000_0000_1000_0000
to a desired M056 256 0000_0001_0000_0001
register No. M057 512 0000_0010_0000_0010

12-8
RE-CKI-A442
12.4 Register Display

In the manage mode, a register can be set.

NOTE The registers used as current value and operation result of TMR/CNT instruction can not
be used.

Operation Explanation
1 Select a register data to be set Move the cursor to the data (decimal or binary) of the register No.
to be set in the register display, and press [SELECT].
When a decimal data is selected, enter a decimal value.
When a binary data is selected, enter a binary value.

DATA EDIT DISPLAY UTILITY

REGISTER

NO. SET VALUE

M055 128 0000_0000_1000_0000
M056 256 0000_0001_0000_0000
M057 512 0000_0010_0000_0000
M058 0 0000_0000_0000_0000
M059 0 0000_0000_0000_0000
M060 0 0000_0000_0000_0000
M061 0 0000_0000_0000_0000
M062 0 0000_0000_0000_0000

Main Menu ShortCut

2 Enter a desired numerical When a decimal value is selected, enter a decimal value data
value using the NUMBER KEYS.
M061 0 0000_0000_0000_0000
> 192

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.
M061 0 0000_0000_0000_0000
> 0000_0000_1100_0000

3 Press [ENTER] The entered numerical value is set at the cursor position.
DATA EDIT DISPLAY UTILITY

REGISTER

NO. SET VALUE

M055 192 0000_0000_1000_0000
M056 256 0000_0001_0000_0000
M057 512 0000_0010_0000_0000
M058 0 0000_0000_0000_0000
M059 0 0000_0000_0000_0000
M060 0 0000_0000_0000_0000
M061 0 0000_0000_0000_0000
M062 0 0000_0000_0000_0000

Main Menu ShortCut

12-9
 RE-CKI-A442

12.5 Servo Power Status Display

12.5 Servo Power Status Display

The status of “ON_EN” signals connected to each power ON unit and servo power supply of
each control group can be confirmed in the Servo Power Status display.

Operation Explanation
1 Select {IN/OUT} under the
main menu
2 Select {SERVO POWER STA- The servo power status display appears.
TUS}
DATA EDIT DISPLAY UTILITY

SERVO POWER STATUS

ON-EN SIGNAL SERVO ON

R1
R2
S1
S2
S3 2
S4
1

Main Menu ShortCut

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

12-10
RE-CKI-A442
12.6 Analog Output Display

12.6 Analog Output Display

The current settings can be confirmed in the Analog Output display.

DATA EDIT DISPLAY UTILITY

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 ShortCut

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.
The value can be overwritten by setting a new value using ARATION instruction.
BASIC SPD
The basic speed used for executing the analog output corresponding to speed is displayed.
The value can be overwritten by setting a new value using ARATION instruction.
ROBOT
The manipulator No. for the analog output corresponding to speed is displayed.

Operation Explanation
1 Select {IN/OUT} under the
main menu
2 Select {ANALOG OUTPUT} The analog output display appears.
The display 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

.

12-11
 RE-CKI-A442

12.7 I/O Messages and I/O Alarms

12.7 I/O Messages and I/O Alarms

12.7.1 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:

Operation Explanation
1 Select {IN/OUT} under the
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.

DATA EDIT DISPLAY UTILITY

I/O MESSAGE (User)

NO. NAME
0001: WIRE SHORTAGE
0002:
0003:
0004: RESTARTING FOR WIRE
0005:
0006:
0007:
0008:

Main Menu ShortCut

3 BACK
TO change between the user section and the system section, use
Press PAGE KEY PAGE BACK

the PAGE KEY PAGE

.

DATA EDIT DISPLAY UTILITY

I/O MESSAGE (User)

NO. NAME
0001:
0002: WIRE STICKING

0003: GAS SHORTAGE

0004:
0005:
0006:
0007:
0008:

Main Menu ShortCut

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.

12-12
RE-CKI-A442
12.7 I/O Messages and I/O Alarms

Operation Explanation

1 Select the name to be Move the cursor to the name to be changed in either the I/O
changed Alarm (User Section) Display or the I/O Message (User Section)
Display, and press [SELECT]. The character input status display
is shown. Enter within 32 letters for the Alarm and Message dis-
plays respectively. Up to 8 messages can be registered.

JOB EDIT DISPLAY UTILITY

[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 ShortCut ! Turn on servo power

2 Input the I/O Alarm Name or

the I/O Message Name
3 Press [ENTER] Input the name in the input line, and press [ENTER]. The name is
displayed.
DATA EDIT DISPLAY UTILITY

I/O MESSAGE (USER)

NO. NAME
0001: WIRE SHORTAGE

0002: ARC SHORTAGE

0003:
0004: RESTARTING FOR WIRE
0005:
0006:
0007:
0008:

Main Menu ShortCut

12-13
 RE-CKI-A442

12.7 I/O Messages and I/O Alarms

12-14
RE-CKI-A442
13.1 Flow of Data by Ladder Programs

13 Editing Ladder Programs

13.1 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 display. 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.

13-1
 RE-CKI-A442

13.2 Editing by Mnemonic and Ladder Editor Program

13.2 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

Ladder programs can be edited with the image of ladders as shown in the display
below.

The function "Ladder Edditor" is not supported for the present version of the manipulator.
NOTE
This is the future function.

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

13-2
RE-CKI-A442
13.3 Mnemonic Editing Display

13.3 Mnemonic Editing Display

13.3.1 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).

Operation Explanation

1 Select {IN/OUT} under the

main menu

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

DATA EDIT DISPLAY UTILITY L

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

, or select [DISP] [SYSTEM LADDER] under the menu.

PAGE

DATA EDIT DISPLAY UTILITY L

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 “13.3.2 Editing Operation” on the
following pages. The system ladder program cannot be edited.

4 Select {DATA} under the menu

5 Select {COMPILE}

13-3
 RE-CKI-A442

13.3 Mnemonic Editing Display

Operation Explanation

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.

DATA EDIT DISPLAY UTILITY L

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

13-4
RE-CKI-A442
13.3 Mnemonic Editing Display

13.3.2 Editing Operation

The editing operation is divided into the instruction registration operation (adding, changing,
and deleting) and the operand edit operation.

Inserting Instruction
L

Operation Explanation

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.
DATA EDIT DISPLAY UTILITY L

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

13-5
 RE-CKI-A442

13.3 Mnemonic Editing Display

Operation Explanation

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.
DATA EDIT DISPLAY UTILITY L

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 display closes, and the ladder program display is
shown.

4 Press [ADD]

13-6
RE-CKI-A442
13.3 Mnemonic Editing Display

Operation Explanation

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.
DATA EDIT DISPLAY UTILITY L

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

13-7
 RE-CKI-A442

13.3 Mnemonic Editing Display

Changing Instructions
L

Operation Explanation

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.
DATA EDIT DISPLAY UTILITY L

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
detailed screen is displayed. When changing numeric data, move
the cursor to the data to be corrected and press the [SHIFT] +
CURSOR 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 appears. Input the data using the NUMBER KEY and press
[ENTER].

=> STR-NOT #20012

> #

Main Menu ShortCut

4 Press [MODIFY]

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RE-CKI-A442
13.3 Mnemonic Editing Display

Operation Explanation

5 Press [ENTER] The instruction displayed in the input buffer line is changed.
DATA EDIT DISPLAY UTILITY L

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

13-9
 RE-CKI-A442

13.3 Mnemonic Editing Display

Delete Instructions

Operation Explanation

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

13-10
RE-CKI-A442
13.3 Mnemonic Editing Display

Editing Operands

Operation Explanation

1 Move the cursor to the instruc-

tion area L
DATA EDIT DISPLAY UTILITY

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
DATA EDIT DISPLAY UTILITY 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

=> 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
detailed screen is displayed. When changing numeric data, move
the cursor to the data to be corrected and press the [SHIFT] +
CURSOR simultaneously. The numeric data then increases and
decreases.

=> STR #20012

Main Menu ShortCut

To directly input the numeric value, press [SELECT]. The input

line appears. Input the data using the NUMBER KEY and press
[ENTER].

4 Press [ENTER] The cursor line operand is changed.

DATA EDIT DISPLAY UTILITY L

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

13-11
 RE-CKI-A442

13.3 Mnemonic Editing Display

Cancelling Editing
Use the following steps to cancel editing during the ladder program editing and to return to the
preceding program.

Operation Explanation

1 Select {DATA} under the menu

2 Select {CANCEL EDIT}

3 Select “YES”
DATA EDIT DISPLAY UTILITY L

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.

13-12
RE-CKI-A442
13.3 Mnemonic Editing Display

13.3.3 Compile
Use the following steps to compile the ladder program after editing.

Operation Explanation

1 Select {DATA} under the menu

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.

DATA EDIT DISPLAY UTILITY L

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

13-13
 RE-CKI-A442

13.3 Mnemonic Editing Display

13.3.4 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 display or the system ladder display.

Operation Explanation

1 Select {IN/OUT} under the

main menu

2 Select {LADDER PROGRAM} The user ladder display or the system ladder display appears.
BACK

Press the PAGE KEY PAGE

to switch the display.

3 Select {EDIT} under the menu The pull down menu appears.
DATA EDIT DISPLAY UTILITY L

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
display. This allows to find out a target position at once without using the cursor.

13-14
RE-CKI-A442
13.3 Mnemonic Editing Display

Top Line, End Line

This is the operation to move the cursor to the first line or the last line in the current display.

Operation Explanation

1 Select “TOP LINE” or “END The cursor moves to “TOP LINE” or “END LINE” of the display,
LINE” under the pull down then the selected line is displayed.
menu
DATA EDIT DISPLAY UTILITY 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

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 display.

Operation Explanation

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.
DATA EDIT DISPLAY UTILITY L

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

13-15
 RE-CKI-A442

13.3 Mnemonic Editing Display

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 display.

Operation Explanation

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.
DATA EDIT DISPLAY UTILITY L

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 display between the user
PAGE

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 display of “SEARCH”
disappears.
DATA EDIT DISPLAY UTILITY L

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

13-16
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
YASKAWA MOTOMAN CANADA LTD.
2280 Argentia Road, Mississauga, Ontario, L5N 6H8, Canada
Phone 1-905-813-5900 Fax 1-905-813-5911
YASKAWA ELECTRIC AMERICA, INC.
2121 Norman Drive South Waukegan, IL 60085, U.S.A.
Phone 1-847-887-7000 Fax 1-847-887-7370
YASKAWA ELECTRIC EUROPE GmbH
Am Kronberger Hang 2, 65824 Schwalbach,Germany
Phone 49-6196-569-300 Fax 49-6196-888-301
MOTOMAN ROBOTICS EUROPE AB
Box 504 S38525 Torsas, Sweden
Phone 46-486-48800 Fax 46-486-41410
MOTOMAN ROBOTEC GmbH
Kammerfeldstr.1,D-85391 Allershausen, Germany
Phone 49-8166-90100 Fax 49-8166-90103
YASKAWA ELECTRIC KOREA CORPORATION
KFPA Bldg #1201, 35-4 Yeoido-dong, Youngdungpo-Ku, Seoul 150-010, Korea
Phone 82-2-784-7844 Fax 82-2-784-8495
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park Singapore 556741, Singapore
Phone 65-6282-3003 Fax 65-6289-3003
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD. MALAYSIA REPRESENTATIVE OFFICE
B615, 6th Floor, East Wing, Wisma Tractors, No.7, Jalan SS 16/1, Subang Jaya, 47500 Petaling Jaya, Selangor D.E. Malaysia
Phone 60-3-5031-5311 Fax 60-3-5031-5312
YASKAWA ELECTRIC (SHANGHAI) CO., LTD.
4F No Aona Road, Waigaoqiao Free Trade Zone, Pudong New Area, Shanghai 200131, China
Phone 86-21-5866-3470 Fax 86-21-5866-3869
YASKAWA ELECTRIC TAIWAN CORPORATION
9F, 16, Nanking E. RD., Sec. 3, Taipei, Taiwan
Phone 886-2-2502-5003 Fax 886-2-2505-1280
YASKAWA ELECTRIC (HK) COMPANY LIMITED
Rm. 2909-10, Hong Kong Plaza, 186-191 Connaught Road West, Hong Kong
Phone 852-2803-2385 Fax 852-2547-5773
BEIJING OFFICE
Room No. 301 Office Building Intemational Club, 21 Jianguomenwai Avenue, Beijing 100020, China
Phone 86-10-6532-1850 Fax 86-10-6532-1851
BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO.,LTD.
30 Xue Yuan Road, Haidian, Beijing P.R. China Post Code: 100083, China
Phone 86-10-6234-5003 Fax 86-10-6234-5002
SHOUGANG MOTOMAN ROBOT CO., LTD.
7,Yongchang-North Road, Beijing Economic & Technological Development Area, Beijing 100076, China
Phone 86-10-6788-0541 Fax 86-10-6788-2878

YASKAWA ELECTRIC CORPORATION

YASKAWA

Specifications are subject to change without notice MANUAL NO. RE-CKI-A442

for ongoing product modifications and improvements. C Printed in Japan November 2003 03-11
 RE-CKI-A442

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