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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,
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)
ƒ 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)
Note
indicates the input or output of the signal, and
Example of Operation Preparation Start Signal Timing Chart
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.
1 ms. or more
Approx.2.0s
Approx. 2.5s
89
The power to the motor is turned ON.
CAL starts
CAL time
Approx. 0.5s
indicates robot operation.
CAL ends
SP is set to 100.
The mode is switched to
external mode.
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