Denso RC5 Specifications download pdf (Page 93)

4.2.4 CAL Complete (Output)

(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)

CAL Complete Output

CAL complete

⋅ Normal CAL end

⋅

CAL is executed again.

When a CAL error occurs.

When CAL has properly ended

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Denso RC5 Specifications Page 93