Robot Initialization Complete (Output)

Function

The output of this signal informs peripheral devices that an I/O command "Mode switching" is executable from an external device.

Usage

After the power-on, while this signal is on, execute I/O command "Mode switching".

ON conditions

• The signal will be turned on when the system program for the COBOTTA normally starts, after the power is turned on and the mode switching command is ready to execute.
• After the signal is turned off, when robot abnormal condition is cleared by pressing [OK] key or [Cancel] key of Remote TP/Virtual TP, or by executing I/O command "Clear robot error", this signal is turned on again.

OFF condition

The signal will be turned off when a robot error or robot warning signal is turned on.

Timing chart