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

3.4.3 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
No.5 of connector CN8.
(3) Input conditions and operation
 If the state of this signal is changed from ON (shorted) to OFF (open),
the robot will stop all tasks as soon as the ongoing step is completed,
and the Robot-in-operation signal will be turned OFF. However, auto
mode or external mode will remain valid, and the suspended program
will be resumed by inputting a program operation command (start). See
the figure given below.
‚ For resuming the program after a step stop, see Chapter 5, Subsection
5.3.2 "Program Operation Command (0001)".
Operating halfway
ON (shorted)
OFF (open)
ON (shorted)
OFF (open)
ON (shorted)
OFF (open)
Step Stop Signal
1-cycle operation
At step-stop
41
Performing
Remaining operation