Interrupt Skip (Input) - Denso RC5 Interface Manual

4.4.10 Interrupt Skip (Input)

Robot status
Interrupt skip
signal (input)
(1) Function
If this signal is turned ON (shorted) during execution of the robot operation
command within the range between INTERRUPT ON and INTERRUPT
OFF in the program, the operation of the ongoing step will stop and the
next step will start.
Note: For further information about the INTERRUPT ON and OFF
commands, refer to the PROGRAMMER'S MANUAL (I), Chapter
12 "12.3 INTERRUPT ON/OFF (Statement)."
For further information about robot motion commands, refer to
the PROGRAMMER'S MANUAL (I), Chapter 12, "Robot Control
Statements."
(2) Terminal number
No.9 of connector CN8.
(3) Usage
Refer to the PROGRAMMER'S MANUAL (I), Chapter 12 "12.3
INTERRUPT ON/OFF."
(4) Input conditions and operation
If this signal is turned ON (shorted), the robot will immediately stop the
ongoing operation and start executing the next step.
INTERRUPT ON
command
ON (shorted)
OFF (open)
Input Conditions and Operation of Interrupt Skip
Operating halfway
104
Next operation
50 ms. or
more required