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4.2.4 CAL Complete (Output)
CAL complete
(1) Function
The signal outputs to the external device that CAL is completed.
(2) Terminal number
No. 11 of connector CN10.
(3) Usage
This signal is used to determine whether to execute 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.
(4) ON conditions
The signal will be turned ON upon proper completion of CAL under the
following conditions.
When CAL is performed by the operating panel or teach pendant.
‚ When CAL EXECUTION and OPERATION PREPARATION START
signals are input from the external device.
(5) OFF conditions
The signal will be turned OFF when CAL is not properly completed as
shown below.
It will remain OFF until CAL is performed again and properly completed.
CAL is performed by the teach pendant.
CAL EXECUTION and OPERATION
PREPARATION START commands are
input from the external device.
(Prerequisite: MOTOR POWER ON)
Normal CAL end
CAL Complete Output
CAL is executed again.
73
When CAL has properly ended
When a CAL error occurs.
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