Denso RC5 manual Robot Stop Input, Timing of the input

3.4.2Robot Stop (Input)

(1)Function

•The signal stops the robot from 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 input OFF (open).

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

input ON (shorted).

ƒIrrespective of whether internal mode, operation by 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 input OFF (open) and neither manual nor automatic operation can be performed until this input is turned ON (shorted). (ERROR2008 will be displayed.)

„By turning OFF (open) this input the following conditions may result.

1)The power to the motor will be turned OFF irrespective of whether manual, automatic, internal or external 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 not executed in manual and auto modes in manual and auto modes, everything will be the same except the power to the motor will be turned OFF. The power to the motor can be turned ON and the suspended operation can, therefore, be resumed by shorting the ROBOT STOP input. (However, the program will be executed from the beginning.)

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

(4)Timing of the input

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

40