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4.4.2 Operation Preparation Start (Input)
(1) Function
⋅ By turning ON (short) this signal, input signals to described in (3),
input conditions and operation will be detected and the robot will
automatically start to operate. Input these signals with the system output
ROBOT POWER ON COMPLETE turned ON.
⋅ By turning ON (short) CLEAR ROBOT FAILURE, an error that has
occurred will be cleared.
(2) Terminal number
No.8 of connector CN8.
(3) Input conditions and operation
Before inputting an operation preparation start signal, turn ON (short)
inputs to below:
Q
QQ
Q Motor power ON (input)
⋅ Terminal number: No.19 of connector CN8
⋅ By turning ON (short) the operation preparation start signal with this
signal turned ON (shorted), the power to the motor will be turned ON.
However, this signal can be used only in the Auto mode.
R
RR
R CAL execution (input)
⋅ Terminal number: No.20 of connector CN8
⋅ By turning ON (short) the operation preparation start signal with this
signal turned ON (shorted), calibration takes place. However, this
signal cannot be used when the power to the motor is turned OFF (
not executed).
S
SS
S SP100 (input)
⋅ Terminal number: No.22 of connector CN8
⋅ By turning ON (short) the operation preparation start signal with this
signal turned ON (shorted), SP100% will be set.
T
TT
T Switch Ext Mode (input)
⋅ Terminal number: No.23 of connector CN8
⋅ By turning ON (short) the operation preparation start signal with this
signal turned ON (shorted), the mode will be set to the external
mode. However, this signal cannot be used when the power to the
motor is turned OFF and CAL is not completed.
U
UU
U Program reset (input)
⋅ Terminal number: No.24 of connector CN8
⋅ By turning ON (short) the operation preparation start signal with this
signal turned ON (shorted), all programs will be initialized.
NOTE: By turning ON (short) the operation preparation start signal with
all inputs Q
QQ
Q to U
UU
U turned ON (shorted), Q
QQ
Q to U
UU
U will be executed
one by one. Input R
RR
R cannot be executed until input Q
QQ
Q is
completed. Inputs Q
QQ
Q to U
UU
U will also become valid when part of
them are executed by the operating panel or teach pendant.