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4.4.7 Step Stop (All Tasks) (Input)
(1) Function
Input this signal to step-stop the program being executed from the
external device. All tasks will be step-stopped.
(2) Terminal number
No.5 of connector CN8.
(3) Input conditions and operation
If the status of this signal is changed from ON (shorted) to OFF (open),
the robot will stop all tasks immediately after the ongoing step is
completed, and the Robot-in-operation signal will be turned OFF.
However, External Auto mode will remain valid, and the suspended
program will be resumed by inputting a program start signal. See the
figure given below.
Turning OFF (open) this signal when inputting a program start signal
makes the robot stop step by step.
Internal operation with the teach pendant is valid only when the status
of this signal is changed from ON (shorted) to OFF (open).
For resuming the program after a step stop, refer to Subsection 4.4.4
"Program Start (Input)".
Robot-in-operation ON
(output) OFF
Single-cycle operation
Robot status
Performing
remaining
Operating halfway Step-stop operation
Program start ON (shorted)
signal (input) OFF (open)
Step-stop ON (shorted)
signal (input) OFF (open)
Step Stop Signal