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4.2.5 External Mode (Output)
(1) Function
The signal outputs to the external device that the robot is in the external
mode.
(2) Terminal number
No. 5 of connector CN10.
(3) Usage
Starting the program from the external device requires an SWITCH EXT
MODE input, PROGRAM NO. SELECT input and a PROGRAM START
input. The signal is used to confirm to the external device that the robot is
in external mode.
(4) ON conditions
The signal will be turned ON under the following conditions.
When INTERNAL/EXTERNAL is input on the teach pendant and the
external mode is selected.
When EXTERNAL/INTERNAL is input on the operating panel in AUTO
MODE and in the INTERNAL CONTROL ON state.
When SWITCH EXT MODE and OPERATION PREPARATION START
signals are input from the external device.
(5) OFF conditions
The signal will be turned OFF under the following conditions.
When the mode selector switch of the teach pendant is set to MANUAL
or TEACH CHECK in external mode.
When EXTERNAL/INTERNAL is input on the teach pendant and
external mode is selected.
When EXTERNAL/INTERNAL is input on the operating panel in AUTO
MODE and in the INTERNAL CONTROL OFF state.
When ROBOT STOP is input.
When ROBOT FAILURE is outputted.
Caution: The signal will not be turned OFF with STEP STOP.
When an Enable Auto input is turned OFF.
External Mode Output
⋅When internal mode is selected on the teach pendant.
⋅When INTERNAL/EXTERNAL is input on th e teach pendant
and external mode is selected.
⋅When INTERNAL/EXTERNAL is input on the operating panel in
AUTO MODE and in the INTERNAL CONTROL ON state.
⋅When ROBOT STOP is input.
⋅When ROBOT ERROR is output.
⋅When an Enable Auto in
p
ut is turned OFF.
ON
External mode output OFF
⋅When INTERNAL/EXTERNAL is input on the teach pendant and external mode is selected.
⋅When INTERNAL/EXTERNAL is input on the operating panel in AUTO MODE and in the
INTERNAL CONTROL ON state.
⋅When EXTERNAL MODE SWITCHING and OPERATION PREPARATION START signals are
input from the external device.