XRC_Interrupt function_manual.pdf

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Motoman XRC Controller
Interrupt Job
Function Manual
for UP/SKX-Series Robots
Part Number:
Release Date:
Document Status:
142641-1
December 5, 2006
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
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http://www.motoman.com/forms/techpubs.asp
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.
©2006 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.
TABLE OF CONTENTS
Section
1
Page
INTRODUCTION
1.1 About this Document .................................................................................................... 1-1
1.2 Reference to Other Documentation................................................................................ 1-1
1.3 Customer Service Information ...................................................................................... 1-1
SAFETY
2.1
2.2
2.3
2.4
2.5
2.6
2.7
2.8
Introduction .................................................................................................................. 2-1
Standard Conventions .................................................................................................. 2-2
General Safeguarding Tips............................................................................................ 2-4
Mechanical Safety Devices ........................................................................................... 2-4
Installation Safety ......................................................................................................... 2-5
Programming Safety ..................................................................................................... 2-5
Operation Safety ........................................................................................................... 2-6
Maintenance Safety....................................................................................................... 2-7
2
3
INTERRUPT JOB FUNCTION
1
What is the Interrupt Job Function? .............................................................................. 1-1
2
Setting of the Interrupt Job Function............................................................................. 2-1
3
Registration of Instructions........................................................................................... 3-1
4
Execution of an Interrupt Job ........................................................................................ 4-1
5
Application Examples ................................................................................................... 5-1
6
System with Independent Control ................................................................................. 6-1
7
Instruction List.............................................................................................................. 7-1
MOTOMAN
i
Interrupt Job Function
NOTES
Interrupt Job Function
ii
MOTOMAN
SECTION 1
INTRODUCTION
1.1
About this Document
This manual provides instructions for Interrupt Job Function and contains the
following sections:
SECTION 1 – INTRODUCTION
General information about this manual, a list of reference documents, and
customer service information.
SECTION 2 – SAFETY
Provides information for the safe use and operation of Motoman products.
SECTION 3 – INTERRUPT JOB FUNCTION
Provides detailed instructions to utilize the Interrupt Job Function.
1.2
Reference to Other Documentation
For additional information refer to the following:
• Concurrent I/O Parameters Manual (P/N 142102-1)
• Operator’s Manual for General Purpose (P/N 142099-1)
• Operator’s Manual for Handling (P/N 142100-1)
• Operator’s Manual for Spot Welding (P/N 142101-1)
• Operator’s Manual for Arc Welding (P/N 142098-1)
• Motoman UP6, XRC Manipulator Manual (P/N 142104-1)
• Motoman SK16X, XRC Manipulator Manual (P/N 142105-1)
• Motoman SK45X, XRC Manipulator Manual (P/N 142106-1)
• Motoman UP130, XRC Manipulator Manual (P/N 142107-1)
1.3
Customer Service Information
If you are in need of technical assistance, contact the Motoman service staff at
(937) 847-3200. Please have the following information ready before you call:
• Robot Type (UP6, SK16X, etc.)
• Application Type (welding, handling, etc.)
• Robot Serial Number (located on the back side of the robot arm)
• Robot Sales Order Number (located on back side of XRC controller)
MOTOMAN
1-1
Interrupt Job Function

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