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KawasakiRobotController
I/O
KawasakiHeavyIndustries,Ltd.
902041023DKE
EKawasakiRobotI/O
"E"I/O().
,1.
,,.
E.E20,E22,E23,E24,E73,E74,E94()E30,E32,E33,E34,E76,E77,E97()E40,E42,E43,E44,E70,E71,E91()E25,E27()E35,E37()
1..,,.2.,,.3..4..5..,,,.,.2012
1
EKawasakiRobotI/O
.
,.
.
.
.
,,,.
1...2.,.,.
2
EKawasakiRobotI/O
1.,()
E.."",""().2.
"".TEACH/REPEAT"TEACH/REPEAT".A"A""".
2.,
E.."","",,().
ENTER"ENTER"."".
3.
[].
[].[].
3
EKawasakiRobotI/O
123
1.0I/O61.171.291.2.1101.2.2121.3141.3.1141.3.2151.3.2.1151.3.2.2AS16
2.0I/O182.1182.1.1ON/OFF182.1.2ON202.1.3212.1.3.1232.1.3.2282.1.3.3292.1.4312.1.5/322.1.6322.2332.2.1()332.2.2()35
3.0I/O383.1393.2393.3I/O()39
4EKawasakiRobotI/O
1.0-11.1()-11.2-1
2.0-22.1IF-32.2RPS-42.3JUMP-6
3.0-9
4.0-10
5.0()-12
6.0-146.1-146.2-176.3-24
7.0I/O-327.11TW-327.21TR-34
8.0()-36
9.0RS03I/O(E70/E73/E76)-389.1I/O-389.2RS03I/O-399.31UU-409.3.1-409.3.2-409.4-41
5
E1.I/OKawasakiRobotI/O
1.0I/O
,/,.I/O.I/O3.
,/..
,/..(.)
I/O,I/O.
[]I/O,I/O.
...
6
ON/OFF
(ON)(OFF)ON.DC+24V(ON)ON,(OFF)OFF.OFF2~3ON.
ONON.(0.3~0.5)(ON)ON.,OFF.
.(OFF).,,3.
.(.)(OFF).(""),.
/TEACH/REPEAT.(ON).
,(OFF).
E1.I/OKawasakiRobotI/O
1.1
."ON/OFF","ON","",""4"",""2.1TR.("2.I/O".)
"ON/OFF"ON/OFF,..
7
E1.I/OKawasakiRobotI/O
[]"ON","","/"..
.(),,()..
8
E1.I/OKawasakiRobotI/O
1.2
..,.
,.,...1TWCN2CN4.("2.I/O")
("")DEFSIG("AS")..("6.")
9
ON(EXT.MOTORON).(MOTORON(ON).)
(EXT.ERROR_RESET).(.)
(EXT.CYCLESTART).(CYCLESTART().)
(EXT.PROGRAMRESET).,.RPS(),(RPSxx),.(2.)
(RPS_ON)"END()".(2.)
(JUMP_ON)"JUMP()".(2.)
(JUMP_OFF)"JUMP()",.(2.)
(RPSxx).RPSxxxx.RPS.(2.)
(EXT_IT).(.)(OFF),.(""),.
(EXT.SLOWREPEATMODE).0508.("")
E1.I/OKawasakiRobotI/O
1.2.1
10
I/F,N(I/FPANELPAGENSELECT)TPI/F.I/F.
N(AUTOSAVECOND.N)..210.("")
PCN(ExternalPCprogramNstart)PC.PC.PC1PC"ZZEXTPC".PC2~5PC"ZZEXTPC2"~"ZZEXTPC5".
PCN(ExternalPCprogramNabort)PC.PC.
OFF(EXT.MOTOROFF)OFF.ONOFF.,OFF.
E1.I/OKawasakiRobotI/O
""""0.3~0.5.,.,"ON"ON,.
:,.
:,.
:.
:.
11
ON(MOTORON).(.)
(ERROR).(.)
(AUTOMATIC)()0602.1.6.OFF2.7.ON3.8.RGSOON4.9.5.
(CYCLESTART)().(.)
(TEACHMODE).(TEACH/REPEAT"TEACH")"/".
1(HOME1)(1).(3.)
2(HOME2)(2).(3.)
ON(POWERON).(CONTROLPOWER().)
RGSO.
(RPS)(RPS).(2.)
RPS-ST"END()".(2.)
JUMP-ST"JUMP()".(2.)
(Programnumber)(pgxxxx).
E1.I/OKawasakiRobotI/O
1.2.2
12
(Stepnumber).
ON(TEACHLOCKON)ON.
(AUTOSAVEWARNING).
(SERVOREADYSTATUS).
PC(ExternalPCprogramexecuting)PC.
(Underemergencystop).
(Executingdryrun).
(HoldMode).(.)
(SafetyFenceOpened).
E1.I/OKawasakiRobotI/O
13
E1.I/OKawasakiRobotI/O
1.3
AS,,.1TWCN2CN4.("2.I/O")
,,,.
.
,I/O,.
1.3.1
I/OI/O.I/O.("AS".)
EI/O32,,I/O.
[]I/O/32.,/.
14
E1.I/OKawasakiRobotI/O
1.3.2
AS..
1.3.2.1
(,,,,)."",OX(),WX().OX,WX.
10879OX5OX6OX6WX3OX5OX6WX3()WX3
OX.PREOUTON
OX5:8,7,8OX5ON.8,99OX5OX5OFF.
OX6:8,9,ONOX5.9OX68ON.9,OX6OFF9WX3.9,WX310,OX6OFF.WX3OX6ONWX3.WX310,OX6OFF.
WX3:9,9WX310.WX3WX39.
15
SIGNALON/OFF()
BITSON/OFF()
RESETOFF()
RUNMASK
PULSE
DLYSIG
SWAIT
SIG()
BITS()
ON/ONI
E1.I/OKawasakiRobotI/O
1.OXOFF,OFF,OFF.OFFOXON.2.,..,..
1.3.2.2AS
(OX,WX),AS..."AS".
16
E1.I/OKawasakiRobotI/O
AS.PREFETCH.SIGINSOFF.
11JMOVE#lc112SIGNAL5,613JMOVE#lc214SIGNAL-515JMOVE#lc316SWAIT100317SIGNAL-6
18JMOVE#lc4
#lc4
#lc1
#lc2
#lc3
OUT5OUT6IN3()IN3PREFETCH.SIGINSOFF
(ACCURACY)..
OUT5#lc2(OUT5)ON,#lc2#lc3OUT5OFF.OUT6ON/OFFOUT5.#lc2ON,#lc4OFF.IN3#lc3(IN3).#lc3IN3ON,IN3ON#lc4.#lc3IN3ON#lc3#lc4.
OFF,OUTOXOFF.RUNMASKOXOUTOFF.
17
E2.I/OKawasakiRobotI/O
2.0I/O
I/O().
2.1
,1TR.
2.1.1ON/OFF
DC(AVR)ON/OFF.
1.ON/OFF
1TRX93-4,124V,20V.X91~4.
X9
1
2
34
+24V
0V
.(ON):ON(OFF):OFF
(1TR)
1.X91-2.1TR.2.DCOFF,"D1560DC(24V).",.
18
E2.I/OKawasakiRobotI/O
1..DC24V0.2A(DC24V10mA20%)DC24V10%(0V.)2.OFF()ON()2~3.3.AWG22~24(0.2~0.3mm2).
2.ON/OFF
1TRX91~4.
X91
2
3
4
.
3-4.
(1TR)
(X9,3-4).X93-4,.
19
E2.I/OKawasakiRobotI/O
2.1.2ON
ONMOTORON(ON).
(ON).ON.
1.ON
1TRX95-6ON.X95-6..
X9
+24V
0V
5
6
(1TR)
5-60.3~0.5(ON)ON.
1..DC24V0.2A2.AWG22~24(0.2~0.3mm2).
2.ON
1TRX95-6,.
20
1.1TRSW2-1ON
2.1TV(MC)1VHJP2,JP3JT2,JP3
E2.I/OKawasakiRobotI/O
2.1.3
.(OFF).3.
1.(/)2.()3.()
,IEC60204-1,ISO10218,ISO13849-1.E3x/E76/E77/E97E4x/E70/E71/E91/E94ISO13849-12006,3,PLd,E1x/E2x/E73/E74ISO13849-12006,2,PLc(,E1x/E2x/E73/E74/E941,PL.E1x/E2x/E73/E743,PLd)..
2.E1x/E2x/E73/E74/E9412.1.,1,1.E3x/E76/E77/E97E4x/E70/E71/E911.
E73/E74
1TV
2
1TV1MC
E1x/E2x
21
(X7,X8).OFF.(2.)
1TRF1(1A)(X7,X8),.
E2.I/OKawasakiRobotI/O
1
2
E94()
1VH
E1x/E2x/E73/E74/E942.1,.
OFF.
[]
2.1.3.22
E2.I/OKawasakiRobotI/O
2.1.3.1
.
1.ON/OFF().,.2.,X72-4,6-8.,.3..(1)DC24V1A(2)(3)()()(4)NC(5)2(2)4..(1)DC24V1A(2)(.)(3)5.AWG22~24(0.2~0.3mm2).6."0V".
[]Cubic-S,X7Cubic-S,X7.Cubic-S.90210-1272D*.
23
E2.I/OKawasakiRobotI/O
1.
(1)2
1TRX73-4,5-6,.1-2,7-8.1TRJP1/JP2JP1.
JP1JP2
OP
T/P
X7
+24V
0V
1
2
3
4
5
6
78
1-2,7-8
(1TR)
24
E2.I/OKawasakiRobotI/O
(2)2,
1TRX71-2,3-4,5-6,7-8,1-3,5-7.1TRJP1/JP2JP2.X72-4,6-8.
JP1JP2
+24V
0V
OP
T/P
X7
123
45
67
8
1
1
2
2
1TRJP1/JP2JP2.JP1.
25
E2.I/OKawasakiRobotI/O
(3)1(E1x/E2x/E73/E74/E94)
1TRX73-4,.1-2.1TRJP1/JP2JP1.
JP1JP2
+24V
0V
OP
T/P
7X7
11-2.23
4
(1TR)
5
JP27?
JP1JP2
1TRJP1/JP2JP2.JP1.
[]12.1.3.
26
E2.I/OKawasakiRobotI/O
(4)1,(E1x/E2x/E73/E74/E94)
1TRX71-2,3-4,1-3.1TRJP1/JP2JP2.X72-4.
JP1JP2
+24V
OP
T/P
7X7
12
300mA
+24V
0V
3
4
0V
(1TR)
1TRJP1/JP2JP2.JP1.
.,.
[]12.1.3.
2.
1TRX71-2,3-4,5-6,7-8.
27
E2.I/OKawasakiRobotI/O
2.1.3.2
.
1..(1)DC24V1A(2)(3)()()(4)NC(5)2(2)2.AWG22~24(0.2~0.3mm2).
1.2
1TRX81-2,3-4,.
8X8
24V
0V
1
2
3
4(1TR)
2.1(E1x/E2x/E73/E74E94)
1TRX81-2,.
8X8
24V
0V
1
2
3
4(1TR)28
E2.I/OKawasakiRobotI/O
[]12.1.3.
2.1.3.3
.
1..(1)DC24V1A(2)(3)()()(4)3(5)2(2)2.AWG22~24(0.2~0.3mm2).
1.2
1TRX85-6,7-8,.
24V
0V
8X8X85
6
7
8
()
(1TR)
29
E2.I/OKawasakiRobotI/O
2.1(E1x/E2x/E73/E74/E94)
1TRX85-6,,7-8.
24V
0V
8X85
6
7
8
()
(1TR)[]12.1.3.
3.
1TRX85-6,7-8.
30
E2.I/OKawasakiRobotI/O
2.1.4
,.
1.
1TRX9,7-8,.(OFF).
9X9
+24V
0V
7
8
(1TR)
7-8OFF).
1..DC24V0.2A2.AWG22~24(0.2~0.3mm2).
2.
1TRX97-8.
[]12.1.3.
31
E2.I/OKawasakiRobotI/O
2.1.5/
TEACH/REPEAT.
1./
1TRX89-10.
X8
9:(ON)
10
:(OFF)
(1TR)
.:DC24V0.1A
2.1.6
X811-12.
1.
X8
11:(ON)
12
:(OFF)
(1TR)
32
E2.I/OKawasakiRobotI/O
2.2
()1TW."7".E"".
1TWSINK/NPNSOURCE/PNP2..
2.2.1()
1TW32.2(CN41819),24V,SOURCE/PNP0V.16.CN41~1620~35.
32photo-couplerDC24V10%10mA37D-Sub
DC24V.1TW,,.
33
E2.I/OKawasakiRobotI/O
1TW(SINK/NPN)1TW
0V
+24V
0V
+24V
-1TW(SINK/NPN)
1TW(SOURCE/PNP)
1TW
+24V
0V
+24V
0V
1TW(SOURCE/PNP)34
E2.I/OKawasakiRobotI/O
2.2.2()
24VCN21819.CN236370V.32DC24V10%0.1A37D-Sub
CN2,,24V.1TW.
1.(,).2.,..3.VIN-1,2.4.1,0.1A.
35
E2.I/OKawasakiRobotI/O
1TW(SINK/NPN)
1TW
+24V
0V
+24V
0V
-1TW(SINK/NPN)
,.(,.)
36
E2.I/OKawasakiRobotI/O
1TW(SOURCE/PNP)
1TW+24V
0V
+24V
0V
-1TW(SOURCE/PNP)
37
E3.I/OKawasakiRobotI/O
3.0I/O
().
I/O,OFF.,ON.,.
1.I/O..2.I/O..3.I/O.,()..4.I/O20cm.(,),I/O.5.I/O,.6.I/O,,.7.I/O.
38
E3.I/OKawasakiRobotI/O
3.1
1.I/O.I/O:E1x/E2x,E3x,E4x,E7x,E9x
2.1TRX7,X8,X9.,"2.1"7.
3.E"".
3.2
1.I/O.I/O:E1x/E2x,E3x,E4x,E7x,E9x
2.1TWCN2CN4.7.
3.E"".
3.3I/O()
IDI/OI/OID.RS03+E7xID.I/O"9.0RS03I/O(E70/E73/E76)".
39
EKawasakiRobotI/O
40
E1.KawasakiRobotI/O
1.0
..
1.1()
,"()".,"".
OFF()."","".""""."".
1.2
,ON"".
."",.
.1.OXOFF.2.ASSIGNALRUNMASKOUT..OX.,OFF.
-1E2.KawasakiRobotI/O
2.0
.1.ASIF2.RPS()3.JUMP()
ASIFRPSJUMP
IF.(RPS)
PGpg00
"END()",.
PGpg1
end
"JUMP()",,.
pg2
PGpg3
JUMP
ON
pg01
pg02
pg08
Pg10
end
PGpg5
end
,(RPSxx)0.
Pg0
end
OFF
end
pg5
end
pg1
end
pg3
end
-2
pg5
end
E2.KawasakiRobotI/O
2.1IF
ASBITS,IF,.
.PROGRAMpg00()100HOMEWAITSIG(1009)OK(IN9)TWAIT0.1(IN10~13)pg.no=BITS(1010,4)(IN10~13)IFpg.no==1THENCALLpg1ENDIFpg.no==2THEN.CALLpg2ENDIFpg.no==8THENCALLpg8ENDIFpg.no==10THENCALLpg10ENDGOTO100.END
ASSIGNAL,BITS,IFTHENEND.BITS,CASEVALUEENDEXTCALL."AS".
-3
"RPS"(RPS).
RPS-ST.RPS"END()".
RPS-ON,.RPS"END()"ON,"(RPSxx)".
"RPSxx"...
"EXT.PROGRAMRESET".,.RPS()(RPSxx).
RPS1RPS2RPS4RPS8RPS16RPS32RPS64
PG0
PG1
PG2
PG3
::
PG15
PG16
::
PG99
E2.KawasakiRobotI/O
2.2RPS
RPS,.(DEFSIG).
RPS(7)ONOFF
-4
E2.KawasakiRobotI/O
7(2),BCD(210).(AS.)
PG01PG1.(RPSxx),0~9PG0,PG1~PG9.PG01RPS.
RPS.
"END()"(PG1)
1(PG3)
[]"RPS-ST"()
[]"RPSxx"()
"RPS-ON"()
100ms
RPS,"END()""RPS-ST".()"RPSxx",100ms,[RPS-ON]."END()""RPS-ON""RPSxx","RPS-ST"OFF."RPS-ST"OFF"RPS-ON""RPSxx".
RPS-ON,RPSxxRPSxx,.
-5
JUMP-ST.RPS"JUMP()"EXTCALL.
JUMP-ON,.RPS"JUMP()"ONRPSxx.
JUMP-OFF.RPS"JUMP()"OFF,.
"RPSxx"(binary)...
E2.KawasakiRobotI/O
"RPSST"ON
"RPSON"
?
OFF
ON"RPSxx"
"RPSST"OFF
2.3JUMP
JUMP,.(DEFSIG).
-6
E2.KawasakiRobotI/O
"JUMPST"ON
"JUMPON"
OFF
?
ON
"JUMPOFF"
OFF
"RPSxx"
?
PG=PG
ON
?
*
RPSxx
"JUMPST"OFF
*EXTCALL"(P1014).".1."JUMP-ON""JUMP-OFF""JUMP-ON".2."JUMP-ON",.
.
[]"JUMPST"()
[]"JUMPCODE"()
"JUMPON"()
"JUMPOFF"()
"JUMP()"(PG2)
100ms
-7
1(PG5)
(ON)(OFF)
E2.KawasakiRobotI/O
RPS,"JUMP()""JUMP-ST".()"RPSxx",100ms,"JUMP-ON"."JUMP()","JUMP-ON""RPSxx",,"JUMP-ST"OFF.(.)"JUMP-ST"OFF"JUNP-ON","RPSxx"OFF.
[]
"JUMP()"(PG2)
(PG2)
"JUMP-ST"()[]"RPSxx"()
"JUMP-ON"()
"JUMP-OFF"()
(ON)(OFF)
-8
E3.KawasakiRobotI/O
3.0
()...
,OUT.2(1,2).
().().
mm..(1mm.)
(DEFSIG).,(SETHOME,SET2HOME).
-9
E4.KawasakiRobotI/O
4.0
,.(.)
A,B2.
AB
WXa(WXb).
-----OXa(OXb).
A1.AB(BOXb)WXa.2.AOXaB.
(OXa,(OXb)).
-10
E4.KawasakiRobotI/O
AB
A
B
[]A,B"/".
-11
E5.KawasakiRobotI/O
5.0()
OFF..
0605(HSETCLAMP),....
AON,OFF.
,ON
CLAMP
,OFF
CLAMP
CLAMP(ON)CLAMP(OFF)
-12
E5.KawasakiRobotI/O
/
OFF
OFF
ON
ON
OFF
CLAMP(ON)CLAMP(OFF)
()
CLAMP(ON),CLAMP(OFF)(8).
-13
ON/OFFH"1.1"
ONH
H
H
ONS"1.2"()
S"1.2"
S
S
JUMP-ONS
JUMP-OFFS
RPS-ONS
RPSxxS
S
S
E6.KawasakiRobotI/O
6.0
6.1
()
HS
ID.0607.ID.
-14
/H"1.1"
H
ONS"1.2"
S()
S
S
S()
1S
2S
ONS
RGSOS
RPSS
RPS-STS
JUMP-STS
(8ch)S.8ON/OFF.,.("5.")8.
E6.KawasakiRobotI/O
()
H
S
,ID.0607.ID.
-15
ONOUT11IN11001
OUT22IN21002
OUT33IN31003
OUT44IN41004
OUT55IN51005
OUT66IN61006
OUT77IN71007
OUT88IN81008
1OFF*OUT99IN91009
1ON*OUT1010IN101010
OUT1111IN111011
OUT1212IN121012
OUT1313IN131013
OUT1414IN141014
OUT1515IN151015
OUT1616IN161016
E6.KawasakiRobotI/O
()
*.
-16
ON/OFFH"1.1"
ONH
H
H
ONS"1.2"()
S"1.2"
S
S
JUMP-ONS
JUMP-OFFS
RPS-ONS
RPSxxS
S
S
S(),2.("")().
S(),8..()
2S2.(8ch)
2S2.(8ch)
E6.KawasakiRobotI/O
6.2
()
H
S-17
/H"1.1"
H
ONS"1.2"
S()
S
S
S()
1S
2S
ONS
RGSOS
RPSS
RPS-STS
JUMP-STS
*(8ch)S(),8.("")/().
(6ch)S().6,/.("")
(8ch)S(),.()
(8ch)S,.()
(8ch2)S2/./.
*(8ch)S.8,ON/OFF.,.("5.")
E6.KawasakiRobotI/O
()
H
S*8ch.-18
1()
2()1122
2()111
222
12
5
122
2(1.)
()2.
6(63.)
E6.KawasakiRobotI/O
(1).
(2)
-19
E6.KawasakiRobotI/O
(3)
(6)
()
(/)22
[]()(6)().
(4)
t1t2
()
t1(),.(0~0.99)t2.(0~0.99)
[]1..()2..3.OFF(),(0.1)ON.
-20
E6.KawasakiRobotI/O
(5)2
1.
2.
3.4.
t1
t2
t1
t2
t1t6
t1
t6
2
t4
t5
t3t3
t1(),,.(0~0.99)
t2.(0~0.99)
t32,.(0~9.9)
t42,.(0~9.9)
t52,.(0~9.9)
t62,,.(0~9.9)
-21
E6.KawasakiRobotI/O
(6)()
()
1
2
3
/
(0.1A)
[]1./,.2.,.3.,.4.OUT,IN.
-22
ONOUT3232ONIN321032
OUT3131IN311031
OUT3030IN301030
OUT29291IN291029
OUT2828IN281028
1OUT2727IN271027
OUT2626IN261026
OUT2525IN251025
2ONOUT2424IN241024
1OUT2323IN231023
1OUT2222IN221022
OUT2121IN211021
1WS8OUT2020IN201020
1WS4OUT1919IN191019
1WS2OUT1818IN181018
1WS1OUT1717IN171017
E6.KawasakiRobotI/O
()
[]1732.
-23
ON/OFFH"1.1"
ONH
H
H
ONS"1.2"()
S
S
S
JUMP-ONS
JUMP-OFFS
RPS-ONS
RPSxxS
S
S
SON.()
ON/OFFSON/OFF.OFF,ON,ON,OFF.
SON.()
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OUT2222IN221022
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30
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28
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No.
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-34
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OUT66IN61006
OUT77IN71007
OUT88IN81008
OUT99IN91009
OUT1010IN101010
OUT1111IN111011
OUT1212IN121012
OUT1313IN131013
OUT1414IN141014
OUT1515IN151015
OUT1616IN161016
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OUT1818IN181018
OUT1919IN191019
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OUT2121IN211021
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OUT2323IN231023
OUT2424IN241024
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OUT2626IN261026
OUT2727IN271027
OUT2828IN281028
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E8.()KawasakiRobotI/O
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-39
No.
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X514-B4X3
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-42
KawasakiRobotControllerEI/O
2008.092012.095
KAWASAKIHEAVYINDUSTRIES,LTD.
90204-1023DKE
2012KawasakiHeavyIndustries,Ltd.