External Mode (Output) - Denso RC5 Interface Manual

3.2.3 External Mode (Output)

External mode
output
(1) Function
The signal outputs to the external device that the robot is in external mode.
(2) Terminal number
No.7 of connector CN10.
(3) Usage
Starting the program from the external device requires an EXTERNAL
MODE SWITCHING BY MODE SWITCHING COMMAND input and a
PROGRAM START BY PROGRAM OPERATION COMMAND input. The
signal is used to confirm that the robot is in external mode.
(4) ON conditions
 The signal will be turned ON under the following conditions.
The external mode is selected on the teach pendant.
‚ The EXTERNAL/INTERNAL is input on the operating panel in AUTO
MODE and in the INTERNAL CONTROL ON state.
ƒ The
EXTERNAL MODE
COMMAND is input from the external device.
(5) OFF conditions
The signal will be turned ON under the following conditions.
 When internal mode is selected on the teach pendant.
‚ When the mode selector switch of the teach pendant is set to MANUAL
or TEACH CHECK in external mode.
ƒ When EXTERNAL/INTERNAL is input on the operating panel in AUTO
MODE and in the INTERNAL CONTROL OFF state.
„ When ROBOT STOP is input.
… When ROBOT FAILURE is outputted.
Caution: The signal will not be turned OFF with INSTANTANEOUS STOP,
STEP STOP or CYCLE STOP.
† When an Enable Auto input is turned OFF.
When the mode is switched to external mode on the teach pendant.
When EXTERNAL/INTERNAL is input on the operating panel.
When a MODE SWITCHING COMMAND (EXTERNAL MODE SWITCHING)
is input from an external device.
When internal mode is selected on the teach pendant.
When the mode selector switch of the teaching pendant is set to
MANUAL or TEACH CHECK.
When EXTERNAL/INTERNAL is input on the operating panel.
ROBOT STOP or ROBOT ERROR
When an Enable Auto input is turned OFF.
External Mode Output
SWITCHING
29
BY MODE SWITCHING