Continue Function

Continue function is the function that restarts multiple suspended programs due to errors or other reasons during multitasking from the latest process.
To restart multiple tasks simultaneously is called "Continue start".
The condition that able to execute "Continue start" is called "Continue-stopped (condition)".
If the robot is moved by some cause after it is stopped, "Continue start" cannot be executed.

Conditions to Enable "Continue-stopped(condition)"

"Continue-stopped(condition)" is executed when at least one of the following conditions is satisfied.

• Halt or Step stop for all tasks
• Motor power OFF
• Level 1 or Level 2 errors
• The emergency button is pressed, or [Emergency Stop] caused by releasing the external emergency stop input (system input signal).
  

  This condition is effective when [Suspend all tasks] is selected from [Program after Robot Stop] in the teach pendant settings.
  For more details, refer to "Settings Associated with Program Stop" of TP App Operation Guide.

Resume Operations

When "Continue start" is executed, all the programs being stopped by "Continue-stopped(condition)" resume operation.

"Continue Start" Operating Procedure

"Continue start" is available only when there are "Continue-stopped" programs.
To execute "Continue Start Permitted (Output)" from I/O, be sure to check Continue start permission output signal is issued beforehand.

Regarding to operation procedures, please refer to "System I/O signal guide"

• "Continue Start (011)" and "Continue Start Permission (output): Selectable by I/O hardware setting" of the Mini I/O dedicated mode

Enabling Continue Start Permission Signal (in Mini I/O Dedicated Mode)

The continue start permission signal is disabled by factory default in mini I/O dedicated mode. One of the user outputs can be configured to be used as a continue start permission signal.　（"Continue Start Permission (output): Selectable by I/O hardware setting"）
Regarding to the operation procedure, please refer to "Displaying and Changing I/O Parameters" of TP App Operation Guide.

Resetting Programs

Reset a "Continue-stopped" program to restart it from the beginning.

Regarding to operation procedures, please refer to the following links.

From Remote TP/Virtual TP

On the Program list window, select a program and then click [Reset].
For details, refer to Displaying Program List Window (Edit window) and Displaying Program List Window (Run window) of TP App guide.

From System I/O Input Signals

To reset a program, use a dedicated I/O command .
For details, refer to Spectifild Program Reset(100) and All Programs Reset(101).

Position Gap Detection Function

If the position or figure of the robot is changed after robot operation completes, "Continue start" execution may cause an error.
This error occurs when the positional gap between current position and the robot stopped originally goes beyond the allowable level.
Allowable level is set in "Allowance for Position gap detection(110-117)" of "Configuration List".