Table 5.5 Run/Pause/Stop Selection Table - Delta DRV70L Series User Manual

DRV70L/90L Series Manual
T1 25% Mode
 The combined JOG speed of the robot is less than 250 mm/s in T1 25% mode.
 If the combined speed is over 250 mm/s, the DCV controller automatically forces the robot to run at
250 mm/s.
 You can use the handheld teaching pendant/DROE to execute robot operations in T1 25% mode,
but you cannot use DI6 and DI7 to execute program Run/Pause/Stop.
 T1 25% mode is limited to JOG teaching, and you cannot stop the robot when Function Pause is
triggered.
T2 100% Mode
 The combined JOG speed of the robot is less than 2000 mm/s in T1 100% mode.
 If the combined speed is over 2000 mm/s, the DCV controller automatically forces the robot to run at
2000 mm/s.
 You can use the handheld teaching pendant/DROE to execute robot operations in T1 100% mode,
but you cannot use DI/O to execute program Run/Pause/Stop.
 The Function Pause triggering is active and you can use it to stop the robot from operating in T1
100% mode.
DI6, DI7 Run/Stop Selection 1, 2
Table 5.5 lists the Run/Pause/Stop selections (PAUSE, STOP and RUN).
Table 5.5 Run/Pause/Stop Selections
Function
PAUSE
STOP
RUN
Auto Mode
 When DI6, DI7 signals are high, the DCV controller runs the program.
 The DI6 and DI7 signals must be in the ON status for 500 msec in order to run the program with DI6
and DI7.
 To stop the robot program, change the DI6 signal to High and DI7 to Low for 500 msec. The DCV
controller stops program execution and the robot immediately.
 If you need to suspend robot operation while running the program, change the DI6 signal to Low and
DI7 to High for 500 msec. The robot completes running the program and then stops. To continue
running the program, change the DI6 and DI7 signals to High and for 500 msec. The robot then
continues running the paused program.
DI6
0
1
1
56
DI7
1
0
1