Caution:When turning ON (shorted) the interrupt skip signal, at least either the program reset signal or the program start signal must be turned OFF (open).

If the interrupt skip signal is turned ON, the robot interprets the program start signal as instantaneously turned OFF (open). Consequently, the program selected with the program No. select signal will be executed from the beginning. (See the figure given below.)

Robot status

Executing cycle halfway

Executing cycle

from beginning

Interrupt skip

ON (shorted)

 

signal (input)

OFF (open)

 

Program start

ON (shorted)

 

signal (input)

OFF (open)

 

Program reset

WRONG

ON (shorted)

 

signal (input)

OFF (open)

 

Program No. select

ON (shorted)

 

signal (input)

OFF (open)

 

Example of Operation When an Interrupt Skip Signal is Input

4.4.11Continue Start (Input)

(1)Function

Turning the program start signal ON when this continue start signal is ON will resume the current program being on halt.

(2)Terminal number No.6 of connector CN8.

(3)Input conditions and operation

This signal is executable only in external mode. If this signal is on, program numbers will be ignored at execution of Program start and the current program being on halt will be resumed. If Continue Start Permitted signal is not ON, the controller will issue ERROR27A8.

105

Page 125
Image 125
Denso RC5 manual Continue Start Input, Example of Operation When an Interrupt Skip Signal is Input