Denso RC5 User Manual
41
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.
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.
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)
OFF (open)
Step-stop signal (input)
ON (shorted)
OFF (open)
OFF (open)
Robot-in-operation (output)
ON (shorted)
OFF (open)
OFF (open)