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For the input timing of the operation preparation start signal and to , see
the figure given below.
Caution: The operation preparation start signal and each input signal,
except the Enable Auto signal, will be turned OFF (falling)
upon turning ON of the external mode output is turned ON.
Although the robot is made to execute all items at start-up,
execute only necessary items at the time of recovery from
suspension during operation to reduce recovery time.
The required time to execute all items may be about 5
seconds depending on CAL time. The time is about 1.3
seconds without CAL. (Once CAL is completed, it does not
need to be executed again as long as the power to the Robot
Controller is turned ON.) Determine whether to execute CAL
according to the CAL complete output.
Note indicates the input or output of the signal, and indicates robot operation.
Approx. 0.5s
Approx.2.0s
Approx. 2.5s
Input
Automatic ON (shorted)
operation enable OFF (open)
Operation ON (shorted)
preparation start OFF (open)
Motor power ON ON (shorted)
OFF (open)
CAL execution ON (shorted)
OFF (open)
SP100 ON (shorted)
OFF (open)
External ON (shorted)
mode switching OFF (open)
Automatic ON (shorted)
mode output OFF (open)
Servo ON ON (shorted)
OFF (open)
CAL complete ON (shorted)
OFF (open)
External ON (shorted)
mode output OFF (open)
1 ms. or more
The power to the motor is turned ON.
CAL starts
CAL ends
SP is set to 100.
CAL time
Output
Example of Operation Preparation Start Signal Timing Chart
The mode is switched to
external mode.