Denso RC5 manual Robot Stop Input, Input timing

4.4.6Robot Stop (Input)

(2)Function

•The signal stops the robot with the external device by opening the robot stop input

‚The signal readies the power to the robot motor to be turned ON by shorting the robot stop input.

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

(3)Input conditions and operation

•The robot stops with this signal OFF (open).

‚The power to the robot motor is ready to be turned ON with this signal

ON (shorted).

ƒIrrespective of whether internal mode (operation with the teach pendant) or external mode (remote operation by the external device) is

selected, the power to the robot motor cannot be turned ON with this signal OFF (open). Neither manual nor automatic operation can be performed until this signal is turned ON (shorted). (ERROR2008 will be displayed.)

„By turning OFF (open) this signal under the following conditions.

1)The power to the motor will be turned OFF, irrespective of whether Manual, Internal Auto, or External Auto mode is selected.

2)During execution of the program (Robot-in-operation signal ON), the power to the motor will be turned OFF and the mode will be switched to internal mode after the robot decelerates to a stop.

3)When the program is at a stop in the Manual and the Auto mode the power to the motor will be turned OFF. The suspended operation can be resumed by turning ON the power to the motor and shorting

the ROBOT STOP signal.

…Opening the ROBOT STOP signal and pressing the ROBOT STOP button of the operating panel or the teach pendant function the same.

(4)Input timing

This signal will be processed prior to all commands and input signals.

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