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4.4 Usage of System Input Signals in Compatible Mode
The usage of each system input signal in compatible mode is described below:
4.4.1 Enable Auto (Input)
(1) Function
The signal enables switching of the robot mode to the Auto mode
(shorted state).
The signal enables switching of the robot mode to the manual mode or
the 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 the external
operating panel and can be combined with the 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.
If 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 the operating panel is
set to AUTO with this input open, ERROR21F3 will be displayed.
Since this state is × in the table below, this error will remain displayed
until the robot leaves this state.
Although ERROR21FD or ERROR21FC will be displayed when the state
is changed from
¡
to ∆ or × shown in the table below, 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
Enable Auto
Operation Mode Application
ON
(shorted)
OFF
(open)
Manual mode
Manual operation with the operating panel or 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 and program execution impossible
Caution: In the pendantless state, auto mode is valid even if the Enable Auto input
is open (external mode cannot be switched and the program cannot start
to run).
Perform the following when operating the robot in the pendantless state:
Set the robot not to start to operate when the Enable Auto input is
open.
Enable 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
and
with the external sequence circuit.