Denso RC5 Usage of System Input Signals Standard Mode, Enable Auto Input, No of connector CN8

3.4Usage of System Input Signals (Standard Mode)

The usage of each system input signal in standard mode is described below.

3.4.1Enable Auto (Input)

(1)Function

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

‚The signal enables switching of the robot mode to manual mode or 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 an external operating panel and can be combined with a 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 operating panel is set to AUTO with this input open, ERROR21F3 will be displayed.

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

…Although ERROR21FD or ERROR21FC will be displayed when the

state is changed from ¡ to ∆ or ⋅ , 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 (shorted)	OFF (open)
Manual mode	Manual operation with the operating panel or the 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 program not executable

Caution: In the pendantless state, auto mode is valid even if the Enable Auto input is open. (The external mode cannot be switched and the program cannot begin execution.)

Perform the following when operating the robot in the pendantless state:

QSet the robot so that it will not start to operate when the Enable Auto input is open.

REnable 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 Q and R with the external sequence circuit.

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