Step Stop (All Tasks) (Input) - Denso RC5 Interface Manual

4.4.7 Step Stop (All Tasks) (Input)

Robot status
Program start
signal (input)
Step-stop
signal (input)
Robot-in-operation
(output)
(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.
ƒ 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)".
Operating halfway
ON (shorted)
OFF (open)
ON (shorted)
OFF (open)
ON
OFF
Step Stop Signal
Single-cycle operation
Step-stop
101
Performing
remaining
operation