Kawasaki Robot Controller

I/O

Kawasaki Heavy Industries, Ltd.

902041023DKE

E
Kawasaki Robot I/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

E
Kawasaki Robot I/O

.

, .

, , ,
.

1.
.
.
2.
, .
,

.
2

E
Kawasaki Robot I/O

1. , ()
E
.
. "",
"" () . 2
.

"" .
TEACH/REPEAT "TEACH/REPEAT" .
A "A" "" .
2. ,
E
.
. "",
"" , , () .

ENTER "ENTER" .
" " .
3.

[] .

[ ] .

[]
.

E
Kawasaki Robot I/O

1.0

I/O

1.1

1.2

1.2.1

10

1.2.2

12

1.3

14

1.3.1

14

1.3.2

15

1.3.2.1

15

1.3.2.2 AS 16
2.0

I/O 18

2.1

18

2.1.1

ON/OFF 18

2.1.2

ON 20

2.1.3

21

2.1.3.1 23
2.1.3.2 28
2.1.3.3 29
2.1.4

31

2.1.5

/ 32

2.1.6

32

2.2

33

2.2.1

() 33

2.2.2

() 35

3.0

I/O 38

3.1

39

3.2

39

3.3

I/O () 39

E
Kawasaki Robot I/O
1.0

-1

1.1

( ) -1

1.2

-1

2.0

-2

2.1

IF -3

2.2

RPS -4

2.3

JUMP -6

3.0

-9

4.0

-10

5.0

( )

6.0

-14

6.1

-14

6.2

-17

6.3

-24

7.0

I/O -32

7.1

1TW -32

7.2

1TR -34

8.0

()

9.0

RS03 I/O (E70/E73/E76) -38

9.1

I/O -38

9.2

RS03 I/O -39

9.3

1UU -40

-12

-36

9.3.1 -40
9.3.2 -40
9.4

-41

E
Kawasaki Robot I/O

1. I/O

1.0 I/O

, /
, .
I/O . I/O 3 .

, /
.
.

, /
.
. ( .)

I/O ,
I/O
.
[ ]
I/O
, I/O .

.

.
.

E
Kawasaki Robot I/O

1. I/O

1.1

. " ON/OFF", "
ON", " ", " " 4 "
", " " 2 .
1TR . ("2. I/O " .)

" ON/OFF"
ON/OFF ,
.
.

ON/OFF
(ON)
(OFF)

ON .
DC+24 V ( ON) ON ,
( OFF) OFF .
OFF 2~3 ON .

ON

ON .
(0.3~0.5 ) (ON) ON
. , OFF
.

.
(OFF) .
, ,
3 .

.
( .) (OFF)
.
(" "
), .

TEACH/REPEAT .

(ON) .

,
(OFF) .

E
Kawasaki Robot I/O

1. I/O

[ ]
" ON", " ", "/ "
.
.

. ()
, ,
() .
.

E
Kawasaki Robot I/O

1. I/O

1.2

.
. ,
.

, . ,
.
. .
1TW CN2 CN4
. ("2. I/O " )
(" " ) DEFSIG
("AS ") .
. (" 6. "
)

E
Kawasaki Robot I/O

1. I/O

1.2.1

ON

(EXT. MOTOR ON)

(MOTOR ON( ON) .)

(EXT. ERROR_RESET)

( .)

(EXT. CYCLE START)

(CYCLE START( ) .)

.

, . RPS

(EXT. PROGRAM RESET)

( ),
(RPSxx) ,
. ( 2. )

(RPS_ON)

(JUMP_ON)

"END()"

. ( 2. )
"JUMP()"

. ( 2. )
"JUMP()"

(JUMP_OFF)

. ( 2.
)

(RPSxx)

.
RPSxx xx .
RPS . ( 2. )

. ( .)

(OFF) , .

(EXT_IT)

(" " ),
.

(EXT. SLOW REPEAT MODE)

. 0508
. (" ")

10

E
Kawasaki Robot I/O

1. I/O

I/F , N

TP I/F .

(I/F PANEL PAGE N SELECT) I/F .

N
(AUTOSAVE COND. N)

.

.
210 . (" ")
PC .

PC N

PC

(External

. PC 1 PC

PC program N start)

"ZZEXTPC" . PC 2~5
PC "ZZEXTPC2"~"ZZEXTPC5" .

PC N

PC .

(External PC

PC

program N abort)

.
OFF .

OFF
(EXT. MOTOR OFF)

ON OFF .
,
OFF
.

"

" "

"

0.3~0.5 .
,
. , " ON"
ON
, .

: , .
: , .
: .
: .
11

E
Kawasaki Robot I/O

1. I/O

1.2.2

ON

(MOTOR ON)

( .)

(ERROR)

( .)
( )
0602
.

1.

6. OFF

(AUTOMATIC)

2.

7. ON

3.

8. RGSO ON
9.

4.
5.

( ) .

(CYCLE START)

( .)

(TEACH MODE)

.(TEACH/REPEAT
"TEACH" ) "/
" .

( 1 )

(HOME1)

. ( 3. )

( 2 )

(HOME2)

. ( 3. )

ON
(POWER ON)
RGSO

.
( CONTROL POWER( )
.)

.

(RPS )

(RPS)

. ( 2. )
"END()"

RPS-ST

. (
2. )
"JUMP()"

JUMP-ST

. (
2. )

(pgxx xx )

(Program number)

12

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Kawasaki Robot I/O

1. I/O

(Step number)
ON
(TEACH LOCK ON)

.
ON .

(AUTO SAVE WARNING)

(SERVO READY STATUS)

PC
(External PC program

PC .

executing)
(Under
emergency stop)

(Executing dry run)

(Hold Mode)

(Safety Fence Opened)

.
.
. ( .)
.

13

E
Kawasaki Robot I/O

1. I/O

1.3

AS ,
,
. 1TW CN2 CN4 .("2.
I/O " )

, ,
, .

,

I/O , .

1.3.1
I/O
I/O . I/O . ("AS
" .)
E I/O 32 , ,
I/O .
[ ]
I/O / 32
. , /
.

14

E
Kawasaki Robot I/O

1. I/O

1.3.2

AS
. .
1.3.2.1

( , , , , )
. " " ,
OX(), WX() .
OX, WX
.
10
7

8
9
OX5
OX6

OX6
WX3

OX5
OX6
WX3( )
WX3
OX.PREOUT ON
OX5

: 8 , 7 , 8
OX5 ON . 8 , 9
9 OX5 OX5 OFF .

OX6

: 8, 9 , ON OX5 . 9
OX6 8 ON .
9 , OX6 OFF 9 WX3
. 9 , WX3 10 ,
OX6 OFF . WX3 OX6 ON WX3
. WX3 10 , OX6 OFF .

WX3

: 9 , 9 WX3
10 . WX3
WX3 9 .

15

E
Kawasaki Robot I/O

1. I/O

1. OX OFF, OFF
, OFF .
OFF OX ON .
2. ,
.
.
,
.
.

1.3.2.2 AS
(OX, WX )
, AS .
.
. "AS "
.

SIGNAL
BITS

RESET
RUNMASK

PULSE
DLYSIG
SWAIT

SIG( )
BITS( )

ON/ONI

ON/OFF()
ON/OFF()
OFF( )

16

E
Kawasaki Robot I/O

1. I/O

AS .
PREFETCH.SIGINS OFF .

11 JMOVE #lc1
12 SIGNAL 5,6
13 JMOVE #lc2
14 SIGNAL -5
15 JMOVE #lc3
16 SWAIT 1003
17 SIGNAL -6
18 JMOVE #lc4

#lc4
#lc2

#lc1

#lc3

OUT5
OUT6
IN3( )
IN3

PREFETCH.SIGINS OFF
(ACCURACY )
.
.
OUT5 #lc2 (OUT5) ON , #lc2
#lc3 OUT5 OFF .
OUT6 ON/OFF OUT5 . #lc2 ON ,
#lc4 OFF .
IN3 #lc3 (IN3) .
#lc3 IN3 ON , IN3
ON #lc4 . #lc3
IN3 ON #lc3
#lc4 .

OFF, OUT
OX OFF . RUNMASK
OX OUT OFF .

17

E
Kawasaki Robot I/O

2. I/O

2.0 I/O

I/O (
) .
2.1
, 1TR
.
2.1.1 ON/OFF
DC (AVR) ON/OFF .
1. ON/OFF
1TR X9 3-4 , 1 24 V, 2 0 V
. X9 1~4
.

X9

+24V

0V

3
4

. (ON): ON

(OFF): OFF

(1TR )

1. X9 1-2 .
1TR .
2. DC OFF , "D1560
DC (24 V)."
, .

18

E
Kawasaki Robot I/O

2. I/O

1. .
DC24 V

0.2 A

( DC24 V 10 mA20 %)

DC24 V10 %
(0 V .)

2. OFF( ) ON( ) 2~3

.
3. AWG22~24(0.2~0.3 mm2) .

2. ON/OFF
1TR X9 1~4 .

X9
1
2

3
4

3-4 .

(1TR )

(X9, 3-4 )
.
X9 3-4 ,
.

19

E
Kawasaki Robot I/O

2. I/O

2.1.2 ON
ON MOTOR ON( ON)
.

(ON ) .
ON .

1. ON
1TR X9 5-6 ON .
X9 5-6 .
.

X9

+24V

0V

5-6 0.3~0.5

(1TR )

(ON) ON .

1. .
DC24 V 0.2 A
2. AWG22~24(0.2~0.3 mm2) .

2. ON
1TR X9 5-6 ,
.

20

E
Kawasaki Robot I/O

2. I/O

2.1.3
. (OFF)
. 3 .
1. (/ )
2. ( )
3. ( )

, IEC60204-1, ISO10218,
ISO13849-1 . E3x/E76/E77/E97 E4x/E70/E71/E91/E94
ISO13849-12006, 3, PLd, E1x/E2x/E73/E74
ISO13849-12006, 2, PLc (,
E1x/E2x/E73/E74/E94 1 , PL
. E1x/E2x/E73/E74 3, PLd
).
.
2 . E1x/E2x/E73/E74/E94 1
2 .
1 . , 1
, 1
. E3x/E76/E77/E97 E4x/E70/E71/E91 1 .

1. 1TR SW2-1

ON

2. 1TV (MC ) 1VH JP2, JP3

JT2 , JP3

1TV

1TV
MC

E1x/E2x
21

E73/E74

E
Kawasaki Robot I/O

2. I/O

E94
( )
1VH

E1x/E2x/E73/E74/E94 2
. 1
, .

OFF .
[ ]
2.1.3 .



(X7, X8) .
OFF
. ( 2
.)
1TR F1 (1 A)
(X7, X8) , .
22

E
Kawasaki Robot I/O

2. I/O

2.1.3.1
.

1. ON/OFF ( )
. ,
.
2. , X7 2-4 , 6-8 .

, .
3. .
(1) DC24 V 1 A
(2)
(3) ( ) ( )
(4) NC
(5) 2 (2 )
4.
.
(1) DC24 V 1 A
(2) (
.)
(3)
5. AWG22~24(0.2~0.3 mm2) .
6. "0 V " .

[ ]
Cubic-S , X7 Cubic-S
, X7 .
Cubic-S .
90210-1272D* .

23

E
Kawasaki Robot I/O

2. I/O

1.
(1) 2
1TR X7 3-4,5-6 ,
. 1-2,7-8 . 1TR JP1/JP2
JP1 .

JP1

JP2

OP

T/P

X7

1
2

+ 24V

3
4

0V

5
6
7
8
(1TR )

24

1- 2,7- 8

E
Kawasaki Robot I/O

2. I/O

(2) 2 ,

1TR X7 1-2,3-4,5-6,7-8 , 1-3,
5-7 . 1TR
JP1/JP2 JP2 . X7
2-4, 6-8 .

JP1

JP2

OP

T/P

X7

1
2

+24V

3
1

0V

5
6

7
2

1TR
JP1/JP2 JP2 . JP1

.

25

E
Kawasaki Robot I/O

2. I/O

(3) 1 (E1x/E2x/E73/E74/E94 )

1TR X7 3-4 ,
. 1-2 . 1TR JP1/JP2 JP1
.

JP1

JP2

OP

T/P

X7 7

1
2

+ 24V

1- 2 .

3
4

0V

5
7
(1TR
)

JP2
JP1

JP2

1TR
JP1/JP2 JP2 . JP1

.

[ ]
1 2.1.3
.

26

E
Kawasaki Robot I/O

2. I/O

(4) 1 ,
(E1x/E2x/E73/E74/E94
)
1TR X7 1-2,3-4 ,1-3
. 1TR JP1/JP2
JP2 . X7 2-4
.

JP1

OP

JP2

T/P

X7 7

300m A

+ 24V

+ 24V

3
4

0V

0V

(1TR)

1TR
JP1/JP2 JP2 . JP1

.

.
,
.
[ ]
1 2.1.3
.

2.
1TR X7 1-2,3-4,5-6,7-8 .
27

E
Kawasaki Robot I/O

2. I/O

2.1.3.2
.

1. .
(1) DC24 V 1 A
(2)
(3) ( ) ( )
(4) NC
(5) 2 (2 )
2. AWG22~24(0.2~0.3 mm2) .

1. 2
1TR X8 1-2,3-4 ,
.

X8 8

24V
0V

1
2
3
4
(1TR )

2. 1 (E1x/E2x/E73/E74 E94 )
1TR X8 1-2 ,
.

X8 8

24V
0V

1
2
3
4
(1TR )

28

E
Kawasaki Robot I/O

2. I/O

[ ]
1 2.1.3
.

2.1.3.3

1. .
(1) DC24 V 1 A
(2)
(3) ( ) ( )
(4) 3
(5) 2 (2 )
2. AWG22~24(0.2~0.3 mm2) .

1. 2
1TR X8 5-6,7-8 ,
.

8
X8X8
5

24V

0V

7
8
(1TR )

29

()

E
Kawasaki Robot I/O

2. I/O

2. 1 (E1x/E2x/E73/E74/E94 )

1TR X8 5-6 ,
, 7-8 .

X8 8

24V

()

0V

7
8

(1TR )
[ ]
1 2.1.3
.

3.

1TR X8 5-6,7-8 .

30

E
Kawasaki Robot I/O

2. I/O

2.1.4

,
.
1.
1TR X9 ,7-8 , .
(OFF) .

X9 9

+ 24V

0V

7- 8 O FF)
.

(1TR )

1. .
DC24 V 0.2 A
2. AWG22~24(0.2~0.3 mm2) .

2.

1TR X9 7-8 .
[ ]
1 2.1.3
.

31

E
Kawasaki Robot I/O

2. I/O

2.1.5 /

TEACH/REPEAT .
1. /
1TR X8 9-10 .

X8
9
: (ON)
10

: (OFF)

(1TR )

.
: DC24 V

0.1 A

2.1.6
X8 11-12 .
1.

X8
11
: (ON)
: (OFF)

12
(1TR )

32

E
Kawasaki Robot I/O

2. I/O

2.2

( ) 1TW .
" 7" . E
" " .

1TW SINK/NPN
SOURCE/PNP 2 .
.

2.2.1 ()
1TW 32 . 2 (CN4 18 19
) , 24 V , SOURCE/PNP 0 V .
16 . CN4 1~16 20~35
.

32

photo-coupler
DC24 V 10 %
10 mA
37 D-Sub

DC24 V .
1TW , , .

33

E
Kawasaki Robot I/O

2. I/O

1TW (SINK/NPN )

1TW

0V

+24V

0V

+24V

-1TW(SINK/NPN)
1TW (SOURCE/PNP )

1TW
+24V

0V
+24V

0V

1TW(SOURCE/PNP)
34

E
Kawasaki Robot I/O

2. I/O

2.2.2 ()

24 V CN2 18 19 .
CN2 36 37 0 V .

32

DC24 V 10 %

0.1 A

37 D-Sub

CN2 , , 24 V
.
1TW .

1. ( , )
.
2. ,
. .
3. VIN-1, 2 .
4. 1 , 0.1 A .

35

E
Kawasaki Robot I/O

2. I/O

1TW(SINK/NPN )

1TW

+24V

0V

+24V

0V

-1TW(SINK/NPN)

,
.
( , .)

36

E
Kawasaki Robot I/O

2. I/O

1TW(SOURCE/PNP )

1TW
+24V

0V

+24V

0V

-1TW(SOURCE/PNP)

37

E
Kawasaki Robot I/O

3. I/O

3.0 I/O

( ) .

I/O , OFF
. ,
ON
. ,
.

1. I/O
.
.
2. I/O .
.
3. I/O .
, ( ) .
.
4. I/O
20 cm . (, )
,
I/O
.
5. I/O ,
.
6. I/O ,
,
.
7. I/O
.

38

E
Kawasaki Robot I/O

3. I/O

3.1

1. I/O .
I/O : E1x/E2x, E3x, E4x , E7x
, E9x
2. 1TR X7, X8, X9 .
, "2.1 " 7 .
3. E " " .
3.2
1. I/O .
I/O : E1x/E2x, E3x, E4x , E7x
, E9x
2. 1TW CN2 CN4 . 7
.
3. E " " .
3.3 I/O ()
ID I/O I/O ID
. RS03 +E7x ID
. I/O " 9.0 RS03
I/O (E70/E73/E76)" .

39

E
Kawasaki Robot I/O

40

E
Kawasaki Robot I/O

1.

1.0
.
.
1.1 ( )

, "() "
.
,
" " .
OFF( ) .
" " , " "
. " "
" " .
" " .
1.2

, ON
"
" .

. " "
, .

.
1.

OX OFF .

2.

AS SIGNAL RUNMASK
OUT .

. OX
.
, OFF
.

-1

E
Kawasaki Robot I/O

2.

2.0
.
1.

AS IF

2.

RPS ( )

3.

JUMP ( )

AS IF

RPS

JUMP

IF

"END()"

"JUMP()"

. (RPS

PG
pg1

PG
pg00

pg01

end

pg2

PG
pg3

JUMP

ON

OFF

end

end
PG
pg5

pg02

pg5

end
pg08
,
(RPSxx) 0
Pg10

.
Pg0
end

pg1

pg3

pg5

end

end

end

-2

end

E
Kawasaki Robot I/O

2.

2.1 IF
AS BITS , IF
, .

.PROGRAM pg00()
100

HOME

WAIT SIG(1009)

OK ( IN9 )

TWAIT 0.1

( IN10~13 )

pg.no = BITS(1010,4) (IN10~13)

IF pg.no = = 1 THEN

CALL pg1

END

IF pg.no = = 2 THEN

CALL pg2

END

IF pg.no = = 8 THEN

CALL pg8

END

IF pg.no = = 10 THEN
CALL pg10

END

GOTO 100
.END
AS SIGNAL, BITS, IFTHENEND .
BITS, CASEVALUEEND EXTCALL .
"AS " .

-3

E
Kawasaki Robot I/O

2.

2.2 RPS
RPS ,
. (
DEFSIG ) .

"RPS"

RPS-ST

(RPS ) .

. RPS "END()"
.

RPS-ON

,
. RPS "END()"
ON , "
(RPSxx)" .

"RPSxx"

.
.
.

"EXT.PROGRAM RESET"

. ,
. RPS
( )
(RPSxx)
.
RPS (7 )

RPS1

RPS2

RPS4

RPS8

RPS16

RPS32

RPS64

PG0

PG1

PG2

PG3

PG15

PG16
:
:

PG99

:
:

ON
OFF

-4

E
Kawasaki Robot I/O

2.

7 (2 ) , BCD(2 10 )
. (AS
.)

PG01 PG1 .
(RPSxx) , 0~9
PG0, PG1~PG9 . PG01 RPS
.

RPS .
"END()"
( PG1)

1
( PG3)

[]
"RPS-ST"()
[]
"RPSxx"()

"RPS-ON"()
100 ms
RPS , "END()"
"RPS-ST" . ( )
"RPSxx" , 100 ms ,
[RPS-ON] . "END()" "RPS-ON"
"RPSxx" , "RPS-ST" OFF
. "RPS-ST" OFF "RPS-ON" "RPSxx"
.

RPS-ON , RPSxx
RPSxx ,
.

-5

E
Kawasaki Robot I/O

2.

"RPSST"
ON

"RPSON"
?

OFF

ON
"RPSxx"

"RPSST"
OFF

2.3 JUMP
JUMP ,
. (
DEFSIG ) .

JUMP-ST

. RPS "JUMP()"
EXTCALL .
,

JUMP-ON

. RPS
"JUMP()"
ON RPSxx
.

JUMP-OFF

. RPS "JUMP()"
OFF
,
.
(binary)

"RPSxx"

.
.

-6

E
Kawasaki Robot I/O

2.

"JUMPST"
ON

OFF

"JUMPON"
?

OFF

ON

"JUMPOFF"
?

"RPSxx"

ON

PG= PG
?

RPSxx
*

"JUMPST"
OFF

* EXTCALL "(P1014)
." .
1. "JUMP-ON" "JUMP-OFF" "JUMP-ON" .
2. "JUMP-ON"
, .

.

"JUMP()"
[]

( PG2)

1
( PG5)

"JUMPST"()
[]
"JUMPCODE"()

"JUMPON"()
100 ms
"JUMPOFF"()

(ON)
(OFF)

-7

E
Kawasaki Robot I/O

2.

RPS , "JUMP()"
"JUMP-ST" . ( )
"RPSxx" , 100 ms ,
"JUMP-ON" . "JUMP()" , "JUMP-ON"
"RPSxx" , , "JUMP-ST"
OFF . (
.) "JUMP-ST" OFF
"JUNP-ON", "RPSxx" OFF .

"JUMP()"
( PG2)
[]
"JUMP-ST"()

( PG2)

[]
"RPSxx"()
(ON)
"JUMP-ON"()

(OFF)

"JUMP-OFF"()

-8

E
Kawasaki Robot I/O

3.

3.0

()

.
.
.

, OUT
. 2 ( 1 , 2 )
.

() . (
) .
mm .
. ( 1 mm . )
( DEFSIG )
. , ( SETHOME, SET2HOME )
.

-9

E
Kawasaki Robot I/O

4.

4.0
,
. ( .)
A, B 2 .

WXa(WXb)

.
-----
OXa(OXb)
.
A
1.

A B ( B OXb
) WXa .

2.

A OXa B
.

(OXa, (OXb) )
.

-10

E
Kawasaki Robot I/O

4.

[ ]
A, B
" /"
.

-11

E
Kawasaki Robot I/O

5.

5.0 ( )

OFF .
.

0605 ( HSETCLAMP ) ,
.
. .
.

A ON, OFF .
, ON

CLAMP

, OFF

CLAMP

CLAMP(ON)
CLAMP(OFF)

-12

E
Kawasaki Robot I/O

5.

OFF

OFF

ON

ON

OFF

CLAMP(ON)
CLAMP(OFF)
( )
CLAMP(ON), CLAMP(OFF) ( 8) .

-13

E
Kawasaki Robot I/O

6.

6.0
6.1
H

()

ON/OFF

ON

ON

JUMP-ON

JUMP-OFF

RPS-ON

RPSxx

"1.1 "

"1.2 "
( )
"1.2 "

ID .
0607 . ID
.

-14

E
Kawasaki Robot I/O

6.

()

"1.1 "

ON

ON

RGSO

RPS

RPS-ST

JUMP-ST

"1.2 "
( )

( )

.
8 ON/OFF

( 8 ch)

. ,
. (" 5.
") 8
.

, ID
. 0607
. ID .

-15

E
Kawasaki Robot I/O

6.

( )

ON

OUT 1

IN 1

1001

OUT 2

IN 2

1002

OUT 3

IN 3

1003

OUT 4

IN 4

1004

OUT 5

IN 5

1005

OUT 6

IN 6

1006

OUT 7

IN 7

1007

OUT 8

IN 8

1008

1 OFF*

OUT 9

IN 9

1009

1 ON*

OUT 10

10

IN 10

1010

OUT 11

11

IN 11

1011

OUT 12

12

IN 12

1012

OUT 13

13

IN 13

1013

OUT 14

14

IN 14

1014

OUT 15

15

IN 15

1015

OUT 16

16

IN 16

1016

* .

-16

E
Kawasaki Robot I/O

6.

6.2
()

H
S

ON/OFF

ON

ON

JUMP-ON

JUMP-OFF

RPS-ON

RPSxx

"1.1 "

"1.2 "
( )
"1.2 "

() ,
2 . ( "

") ()

.

() ,
8 .
. ( )

2

2

2

. ( 8 ch)

2

. ( 8 ch)

-17

E
Kawasaki Robot I/O

6.

H
S

()

"1.1 "

ON

ON

RGSO

RPS

RPS-ST

JUMP-ST

*
( 8 ch)

"1.2 "
( )

( )

() , 8
S

. ( " ")

/() .
() .

( 6 ch)

6 ,
/ . (
" ")

( 8 ch)

( 8 ch)

( 8ch2)

()
S

,
. ( )

,
.( )
2 /

. /
.
.

*
( 8 ch)

8 , ON/OFF
. ,
. (" 5. ")

* 8 ch .
-18

E
Kawasaki Robot I/O

6.

(1) .
1

2
2

( 1
.)

()

2 .
6

( 63
.)

(2)

1 ( )

2
( )

1
1
2
( )

2
2

-19

E
Kawasaki Robot I/O

6.

(3)

( 6 )

()

(/ )
2
2

[ ]
()
(6) () .

(4)

t1

t2

()


t1 () , .
(0~0.99 )
t2 .(0~0.99 )
[ ]
1. . ( )
2. .
3. OFF ( )
, (0.1 ) ON .

-20

E
Kawasaki Robot I/O

6.

(5) 2
1.
2.

t1

t2

3. 4.

t1

t2

t1

t1

t6

t6

t4

t5

t3

t3

t1 () , , .
(0~0.99 )
t2 .(0~0.99 )
t32 ,
. (0~9.9 )
t4 2 , .
(0~9.9 )
t5 2 , .
(0~9.9 )
t62 , ,
. (0~9.9 )

-21

E
Kawasaki Robot I/O

6.

(6) ()

()

(0.1 A )

[ ]
1. / , .
2. ,
.
3. ,
.
4. OUT, IN .

-22

E
Kawasaki Robot I/O

6.

( )

ON

OUT 32

32

ON

IN 32

1032

OUT 31

31

IN 31

1031

OUT 30

30

IN 30

1030

OUT 29

29

IN 29

1029

OUT 28

28

IN 28

1028

OUT 27

27

IN 27

1027

OUT 26

26

IN 26

1026

OUT 25

25

IN 25

1025

2 ON

OUT 24

24

IN 24

1024

OUT 23

23

IN 23

1023

OUT 22

22

IN 22

1022

OUT 21

21

IN 21

1021

1 WS8

OUT 20

20

IN 20

1020

1 WS4

OUT 19

19

IN 19

1019

1 WS2

OUT 18

18

IN 18

1018

1 WS1

OUT 17

17

IN 17

1017

[ ]
17 32
.

-23

E
Kawasaki Robot I/O

6.

6.3
H
S

()

ON/OFF

ON

ON

JUMP-ON

JUMP-OFF

RPS-ON

RPSxx

ON/OFF

"1.1 "

"1.2 "
( )

ON . ( )
ON/OFF . OFF

, ON ,
ON , OFF .

ON . ( )

, .

-24

E
Kawasaki Robot I/O

6.

()

H
S

"1.1 "

ON

ON

RGSO

RPS

RPS-ST

JUMP-ST

ON

( 8 bit)

( 8 bit)

S
S

WCR

ON/OFF

"1.2 "
( )

( )

, .

, .
" " ,

. ON
"", OFF "" .
ON/OFF . ON "ON", OFF
"OFF" .

-25

E
Kawasaki Robot I/O

6.

1. (STWC, STWE)
(1)

ON

( 8 bit)

(2)

ARC ON*

ON

* ARC ON ON/OFF
.

-26

E
Kawasaki Robot I/O

6.

2. I/O
, I/O
.
H
S

.
(E6562) " ."
( TIG .)

. ,
OFF
. (E6506) " ."
" " ,

.
. (E6503) "
."
" " ,

.
( ) . (
.)
.

WCR

ON 1
, .
(E6502) " ."

-27

E
Kawasaki Robot I/O

6.

H
S

.
" "
( ) . (
.)

.
" "
. (E6503) " ."
( ,
.)

ON

, .

ON

. 1
"WCR"
. (E6502) "
." ( OFF
.)

ON

H
S

( 16bit)

.
ON .
BCD / .

( 16bit)

.
ON .
BCD / .

0601 , 0602 , DEFSIG(AS

) . .
. , 1000, 0 ,
.
1. 1000 .
2. ON 0 ON .
[ ]
1. , .
2. (1GN 1TW
D/A ) .
-28

E
Kawasaki Robot I/O

6.

(1)

( 16 bit)
( 16 bit)
ON
WCR
ON
ON

(2)
1.
ON()
t1
WCR()
()
()
t1 ON WCR . t1 1 ,
. (E6503) " ."
, ON , . 1 WCR
WCR . ON
, .
ON , WCR .

-29

E
Kawasaki Robot I/O

6.

2.
()
()

.
. ,
, .
3. /
ON()
()

()
A

, A ON,
. , B ON,
.
4.

()
()

.
. .
(E6562) " ."
, .

-30

E
Kawasaki Robot I/O

6.

( )

ON

OUT 32

32

ON

IN 32

1032

OUT 31

31

IN 31

1031

OUT 30

30

IN 30

1030

OUT 29

29

IN 29

1029

OUT 28

28

IN 28

1028

OUT 27

27

IN 27

1027

OUT 26

26

IN 26

1026

OUT 25

25

IN 25

1025

OUT 24

24

IN 24

1024

OUT 23

23

IN 23

1023

OUT 22

22

IN 22

1022

OUT 21

21

IN 21

1021

OUT 20

20

IN 20

1020

OUT 19

19

IN 19

1019

OUT 18

18

IN 18

1018

OUT 17

17

IN 17

1017

[ ]
17 32 ,
.

-31

E
Kawasaki Robot I/O

7. I/O

7.0 I/O
7.1 1TW
CN2
1
OUT 1

20
OUT17

OUT18

OUT19

OUT20

OUT21

OUT22

OUT23

OUT24

OUT25

10

OUT26

11

OUT27

12

OUT28

13

OUT29

14

OUT30

15

OUT31

16

OUT32
36 COM1
(OUT1~16)
37 COM2
(OUT17~32)

17

21
22
23
24
25
26
27
28
29
30
31
32
33
34
35

OUT 2
OUT 3
OUT 4
OUT 5
OUT 6
OUT 7
OUT 8
OUT 9
OUT10
OUT11
OUT12
OUT13
OUT14
OUT15
OUT16
NC
18 VIN1
(OUT1~16)
19 VIN2
(OUT17~32)

[ ]
1. .
E " " .
2. 2 1TW 32 .
-32

E
Kawasaki Robot I/O

7. I/O

CN4

37
NC
36
NC
35
IN32
34
IN31
33
IN30
32
IN29
31
IN28
30
IN27
29
IN26
28
IN25
27
IN24
26
IN23
25
IN22
24
IN21
23
IN20
22
IN19
21
IN18
20
IN17

19 COM2
(IN17(32)
18 COM1
(IN1(16)
17
NC
16
IN16
15
IN15
14
IN14
13
IN13
12
IN12
11
IN11
10
IN10
9
IN 9
8
IN 8
7
IN 7
6
IN 6
5
IN 5
4
IN 4
3
IN 3
2
IN 2
1
IN 1

[ ]
1. .
E " " .
2. 2 1TW 32 .

-33

E
Kawasaki Robot I/O

7. I/O

7.2 1TR
1TR X7, X8, X9 .
X7

No.

6
7
8

X8
1
2
3

6
7

No.
1
2
3

10

10

11

11

12

12

-34

E
Kawasaki Robot I/O

X9

No.

8
9
10

7. I/O

ON/OFF

ON

8
9

I/O 24 V (9: I/O 24 V, 10: 24 G)

( I/O , )

10

0.7 A
0.6 A
E7x 0.4 A (
.)

-35

E
Kawasaki Robot I/O

8. ()

8.0 ()

OUT 1

IN 1

1001

OUT 2

IN 2

1002

OUT 3

IN 3

1003

OUT 4

IN 4

1004

OUT 5

IN 5

1005

OUT 6

IN 6

1006

OUT 7

IN 7

1007

OUT 8

IN 8

1008

OUT 9

IN 9

1009

OUT 10

10

IN 10

1010

OUT 11

11

IN 11

1011

OUT 12

12

IN 12

1012

OUT 13

13

IN 13

1013

OUT 14

14

IN 14

1014

OUT 15

15

IN 15

1015

OUT 16

16

IN 16

1016

-36

E
Kawasaki Robot I/O

8. ()

OUT 17

17

IN 17

1017

OUT 18

18

IN 18

1018

OUT 19

19

IN 19

1019

OUT 20

20

IN 20

1020

OUT 21

21

IN 21

1021

OUT 22

22

IN 22

1022

OUT 23

23

IN 23

1023

OUT 24

24

IN 24

1024

OUT 25

25

IN 25

1025

OUT 26

26

IN 26

1026

OUT 27

27

IN 27

1027

OUT 28

28

IN 28

1028

OUT 29

29

IN 29

1029

OUT 30

30

IN 30

1030

OUT 31

31

IN 31

1031

OUT 32

32

IN 32

1032

-37

E
Kawasaki Robot I/O

9. RS03 I/O (E70/E73/E76)

9.0 RS03 I/O (E70/E73/E76)

9.1 I/O
RS03 , E70/E73/E76 . E70/E73/E76 ,
1TB ( ) CN3 1UU (RS03 , )
1UU I/O .
1UU 4 , 4 , 1UU
. " 9.3 1UU " .

(RS03)

1TB

( 4 )
1UU

X4

X401

X592
X514-B
X3

" " .

-38

( 4 )

E
Kawasaki Robot I/O

9. RS03 I/O (E70/E73/E76)

9.2 RS03 I/O

, / 0610 .

[ ] [] , 4 IN13~16
.

[ ] [] , 4 OUT9~12
. , 0605
.

-39

E
Kawasaki Robot I/O

9. RS03 I/O (E70/E73/E76)

9.3 1UU

CN3

X592

JP2
JP1

X514-B

JP3
JP4

9.3.1
No.

JP1

JP1: 4

JP1

JP2

JP2:

JP3

JP3: NPN, SINK

E73 JP3

JP4

JP4: PNP, SOURCE

E70/E76 JP4

9.3.2
No.
X514-B

X3

X592

X4 X316 (1TQ/1TV )

CN3

CN3

-40

E
Kawasaki Robot I/O

9. RS03 I/O (E70/E73/E76)

9.4
(E1295) [ XX] 24 V .

, (1UU )
24 V .

24 V , . , ,
, X592 ,
(1UU ) 1TQ/1TV .

1. 24 V ( , ) ,
.
2. X592 .
3. , (1UU ) .
4. 1TQ/1TV .
5. .
(E1382) [ XX] " ."

, (1UU ) .

1. , (1UU ) .
2. 1UU .
3. 1UU . (JP1, JP2
.)

1. , (1UU ) .
2. , , , (1UU )
.
3. 1UU .

-41

E
Kawasaki Robot I/O

9. RS03 I/O (E70/E73/E76)

(E1383) [ XX] " ID ."

, JP1, JP2
, .

, (1UU )
.
, JP2 ( ID)

1. , (1UU ) JP2
.
2. OFF/ON .
, ID . ID
.

-42

Kawasaki Robot Controller E

I/O
2008. 09
2012. 09 5

KAWASAKI HEAVY INDUSTRIES, LTD.

90204-1023DKE

2012 Kawasaki Heavy Industries, Ltd.