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(4) Example of program start signal (rise) ON and (fall) OFF timing
Q Q Q Q Example of program start signal rise (ON) timing
Robot status
External mode
(output)
1-cycle end
(output)
Program start
signal (input)
Caution: The program start signal for the first cycle rises as soon as
The figure below shows how to make the program start signal rise with
robot system outputs (external mode output and single-cycle end
output).
Wait for start
ON
OFF
ON
OFF
ON (shorted)
OFF (open)
Example of Program Start Signal Rise Timing
the external mode becomes valid and the conditions of the
peripheral devices are met. The program start signal for
subsequent cycles rises after output of a single-cycle end
signal.
Single-cycle
operation
200 ms. or
more required
95
Next cycle
operation
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