Denso RC5 manual Usage of System Input Signals in Compatible Mode, Off

4.4Usage of System Input Signals in Compatible Mode

The usage of each system input signal in compatible mode is described below:

4.4.1Enable Auto (Input)

(1)Function

•The signal enables switching of the robot mode to the Auto mode (shorted state).

‚The signal enables switching of the robot mode to the manual mode or the teach check mode (open state).

(2)Terminal number No.4 of connector CN8.

(3)Usage

The signal is used for the AUTO/TEACHING selector switch of the external operating panel and can be combined with the safety fence switch.

(4)Input conditions and operation

•As shown below, the selectable operation mode depends on whether this input is shorted or open.

‚If the input becomes open during automatic operation, the mode will be

switched to manual mode and ERROR21FC will be displayed.

ƒIf manual operation or a teach check is conducted with this input

shorted, ERROR21F2 will be displayed.

„If the mode selector switch of the teach pendant or the operating panel is

set to AUTO with this input open, ERROR21F3 will be displayed.

Since this state is ⋅ in the table below, this error will remain displayed until the robot leaves this state.

…Although ERROR21FD or ERROR21FC will be displayed when the state is changed from ¡ to ∆ or ⋅ shown in the table below, they will not be displayed when the state is changed from ∆ or ⋅ to ¡.

†When the input is turned OFF (open) in external mode, the external mode output will also be turned OFF.

Relationship Between Enable Auto Input and Selectable Mode

Operation Mode

Application

Enable Auto

ON	OFF
(shorted)	(open)

Manual mode		Manual operation with the operating panel or teach		∆	¡
		pendant
Teach check mode		Program check with the teach pendant		∆	¡
Internal Auto mode		Automatic operation with the operating panel or teach		¡	⋅
		pendant
External Auto mode		Automatic operation with the external device		¡	⋅
Note:	= Mode selectable		⋅ = Mode not selectable
¡
∆	= Mode selectable, but manual operation and program execution impossible
		Caution: In the pendantless state, auto mode is valid even if the Enable Auto input
			is open (external mode cannot be switched and the program cannot start
			to run).
			Perform the following when operating the robot in the pendantless state:

•Set the robot not to start to operate when the Enable Auto input is

open.

‚Enable Auto input open state and auto mode output (See Subsections 4.2.2 and 6.2.2 "Auto Mode ".)

Set the equipment to make an emergency stop in an AND state.

Add • and ‚ with the external sequence circuit.

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