Motion Preparation Completed (Output)

Function

This command outputs the state where a COBOTTA robot program can start.

Terminal number

#51 on Mini I/O connector.

Usage

When this signal is OFF, you cannot start a robot program. Use "Operation Preparation" (turning ON bit 2 of Data Area) of I/O Command or some other method to perform the motion preparation. For how to perform the motion preparation, refer to "Motion Preparation".

ON conditions

The signal is turned ON when COBOTTA is in the motion preparation status after you perform "Operation Preparation" (turning ON bit 2 of Data Area) of I/O Command or the instructions described in "Motion Preparation".

OFF conditions

• When the emergency stop input signal or the protective stop input signal is open
• When a safety function error occurs
• When safety data is sent to COBOTTA

Timing Chart