Denso RC5 manual Refer to the Programmers Manual I, 104

4.4.10Interrupt Skip (Input)

(1)Function

If this signal is turned ON (shorted) during execution of the robot operation command within the range between INTERRUPT ON and INTERRUPT OFF in the program, the operation of the ongoing step will stop and the next step will start.

Note: For further information about the INTERRUPT ON and OFF commands, refer to the PROGRAMMER'S MANUAL (I), Chapter 12 "12.3 INTERRUPT ON/OFF (Statement)."

For further information about robot motion commands, refer to the PROGRAMMER'S MANUAL (I), Chapter 12, "Robot Control Statements."

(2)Terminal number No.9 of connector CN8.

(3)Usage

Refer to the PROGRAMMER'S MANUAL (I), Chapter 12 "12.3

INTERRUPT ON/OFF."

(4)Input conditions and operation

If this signal is turned ON (shorted), the robot will immediately stop the ongoing operation and start executing the next step.

		INTERRUPT	ON	Operating halfway	Next operation
Robot status		command
						50 ms. or
						more required
Interrupt skip	ON (shorted)
signal (input)	OFF (open)

Input Conditions and Operation of Interrupt Skip

104