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67
Step
Worker’s operation and display on
equipment’s operation panel
PLC processing Robot operation
Q
Q
Q
Q Operation preparation start
R
R
R
R Operation start area check
Start and Stop Procedure and System I/O Signals-1
(Continued on following page)
Equipment power ON
Setting
operation/adjustment
selector switch to
operation
Enable Auto ON
Operation OK indicato
r
lam
p
ON
Setting Mode selecto
r
switch of the operating
panel or the teach
pendant to AUTO
Robot preparation
button ON
(Note
)
Data area 1 input ON
Executing mode
switchin
g
command
Executing CAL
Robot external mode
indicator lamp ON
Setting SP 100
Switching mode to
external mode
(Internal processing)
External mode ON
Moving robot arm close
to operation origin,
when external mode
indicator lamp is ON
and operation position
1 indicator lamp is OFF.
Robot operation origin
indicator lamp ON
Robot preparation O
K
display
(Internal processing)
When both are ON
(Internal processing)
Operation position 1
ON
Motor power ON
(Internal processing)