Denso RC5 Spécifications télécharger pdf (Page 61)

3.4.3 Step Stop (All Tasks) (Input)

(1) Function

Input this signal to step-stop the program being executed from the external

device. All tasks will be step-stopped.

(2) Terminal

No.5 of connector CN8.

(3) Input conditions and operation

 If the state of this signal is changed from ON (shorted) to OFF (open), the

robot will stop all tasks as soon as the ongoing step is completed, and

the Robot-in-operation signal will be turned OFF. However, auto mode or

external mode will remain valid, and the suspended program will be

resumed by inputting a program operation command (start). See the

figure given below.

 For resuming the program after a step stop, see Chapter 5, Subsection

5.3.2 "Program Operation Command (0001)".

Step Stop Signal

Robot status

1-cycle operation

Operating halfway

At step-stop

Performing

Remaining operation

Program start signal (input) ON (shorted)

OFF (open)

Step-stop signal (input) ON (shorted)

OFF (open)

Robot-in-operation (output) ON (shorted)

OFF (open)

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Denso RC5 Spécifications Page 61