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4.4 Usage of System Input Signals in Compatible Mode
The usage of each system input signal in compatible mode is described below:
4.4.1 Enable Auto (Input)
(1) Function
The signal enables switching of the robot mode to the Auto mode (shorted
state).
The signal enables switching of the robot mode to the manual mode or the
teach check mode (open state).
(2) Terminal number
No.4 of connector CN8.
(3) Usage
The signal is used for the AUTO/TEACHING selector switch of the external
operating panel and can be combined with the safety fence switch.
(4) Input conditions and operation
As shown below, the selectable operation mode depends on whether this
input is shorted or open.
If the input becomes open during automatic operation, the mode will be
switched to manual mode and ERROR21FC will be displayed.
If manual operation or a teach check is conducted with this input shorted,
ERROR21F2 will be displayed.
If the mode selector switch of the teach pendant or the operating panel is
set to AUTO with this input open, ERROR21F3 will be displayed.
Since this state is × in the table below, this error will remain displayed until
the robot leaves this state.
Although ERROR21FD or ERROR21FC will be displayed when the state
is changed from
to Δ or × shown in the table below, they will not be
displayed when the state is changed from Δ or × to
.
When the input is turned OFF (open) in external mode, the external mode
output will also be turned OFF.
Relationship Between Enable Auto Input and Selectable Mode
Enable Auto
Operation Mode Application
ON
(shorted)
OFF
(open)
Manual mode
Manual operation with the operating panel or teach
pendant
Δ
Teach check mode Program check with the teach pendant
Δ
Internal Auto mode
Automatic operation with the operating panel or teach
pendant
×
External Auto mode Automatic operation with the external device
×
Note:
= Mode selectable × = Mode not selectable
Δ = Mode selectable, but manual operation and program execution impossible
Caution: In the pendantless state, auto mode is valid even if the Enable Auto input is
open (external mode cannot be switched and the program cannot start to
run).
Perform the following when operating the robot in the pendantless state:
Set the robot not to start to operate when the Enable Auto input is
open.
Enable Auto input open state and auto mode output (See
Subsections 4.2.2 and 6.2.2 "Auto Mode ".)
Set the equipment to make an emergency stop in an AND state.
Add and with the external sequence circuit.
- INTERFACE MANUAL 1
- Preface 3
- How this book is organized 5
- 3. Installation Precautions 9
- SAFETY PRECAUTIONS 11
- Warning 13
- Contents 17
- RC5 - VSE 6 B A - P 21
- 2.3 Setting the parameter 23
- /HM-E series 24
- <Front> 25
- [ 1 ] Specifications 27
- [ 2 ] Outer Dimensions 29
- Location of IPM boards 30
- (VM-D, VS-E, HS-E, and HM-E) 32
- (VS-D, VC-E, H 33
- -D, and XYC-D) 33
- 2.2 Switching between Modes 34
- 2.3.1 Standard Mode 42
- 2.3.2 Compatible Mode 43
- 2.4.4 User Input Commands 44
- 2.4.5 User Output Commands 45
- Chapter 3 46
- (5) OFF condition 47
- 3.2.2 Auto Mode (Output) 48
- 3.2.4 Servo ON (Output) 50
- 3.2.6 Normal CPU (Output) 52
- (4) ON condition 54
- 3.2.11 SS mode (Output) 56
- 3.4.1 Enable Auto (Input) 59
- 3.4.2 Robot Stop (Input) 60
- (2) Terminal 61
- Halt OFF (open) 62
- Dedicated to Standard Mode 65
- [ 2 ] Strobe Signal (Input) 69
- [ 4 ] Status Area 71
- 3.5.3 I/O Commands Details 72
- (2) Format 73
- (3) Description 73
- 3.5.3.4 Error Read (0100) 77
- Type I Variable Read (0110) 79
- 3.5.3.9 I/O Write (1001) 83
- 3.5.3.10 I/O Read (1010) 84
- (1) Equipment setup example 85
- Chapter 4 89
- 4.2.2 Auto Mode (Output) 91
- 4.2.3 Servo ON (Output) 92
- ⋅ CAL EXECUTION and OPERATION 93
- 4.2.6 Teaching (Output) 95
- 4.2.10 Normal CPU (Output) 99
- (1) Function 100
- (2) Terminal number 100
- (3) Usage 100
- (4) ON conditions 100
- (5) OFF conditions 100
- (1) Function 101
- 4.2.14 Error No. (Output) 103
- 4.2.16 SS mode (Output) 104
- (4) Contact 105
- (Compatible Mode) 106
- 4.4.1 Enable Auto (Input) 107
- The mode is switched to 109
- external mode 109
- (2) Terminal numbers 110
- 4.4.4 Program Start (Input) 112
- 1-cycle Operation 112
- Program Start Operation-2 113
- Program Start Operation-3 114
- 1→T2→T3 in the figure 116
- 4.4.5 Program Reset (Input) 118
- 4.4.6 Robot Stop (Input) 120
- ON (shorted) 122
- 50 ms. or more required 122
- Instantaneous 122
- (e.g., conveyor) 126
- (2) Outline of procedure 127
- Operation start area check 128
- Operation position 1 ON 128
- Automatic operation 129
- Operation end 129
- Executing single-cycle 129
- [ 1 ] From the teach pendant 131
- [ 2 ] In WINCAPSII 132
- Parameter details 134
- User I/O signal lines 137
- Chapter 5 138
- 5.2.4.1 Standard type 152
- Check point (2) 156
- Chapter 6 158
- 6.2.4.1 Standard type 172
- Check point (1) 176
- Chapter 7 I/O Wiring 178
- : 230 VAC, phase R 180
- B: 230 VAC, phase S 180
- C: Not used 180
- D: Ground 180
- RC5 CONTROLLER 181
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