Denso RC5 manual Program Start Input, Program Start Operation-1

4.4.4Program Start (Input)

(1)Function

This signal starts the program specified with the program No. select signal from the external device.

(2)Terminal number No.10 of connector CN8.

(3)Input conditions and operation

By switching the status of this signal from ON (open) to ON (shorted) in external mode, operations •, ‚ and ƒ described below will take place. (The status of the signal must be switched from OFF to ON.)

•If the program start signal is input (switched from OFF to ON) when the robot has not yet completed the program or is at rest after it has completed a cycle of the program, the program No. select signal will be read, the program will execute a cycle, and the robot will come to a stop.

		Single-cycle		Single-cycle
Robot status	Wait for start	operation	Wait for start	operation
Program	ON (shorted)
start signal	OFF (open)
		50 ms. or more required

Program Start Operation-1

Caution: The program start signal requires program start preparation time (50 msec. or more) before input from OFF (open) to ON (shorted).

The program start signal must remain OFF (open) during the program start preparation time. If it is turned ON (shorted) during that time, the next cycle will not start to run.

To start a new cycle, the status of the external start signal must be switched from OFF to ON before each cycle.

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