Step Stop (All Tasks) (Input)

Function

Input this signal to step-stop the program being executed from the external device. All tasks will be step-stopped.

Input Conditions and Operation

If the state of this signal is changed from on to off, the robot will stop all tasks as soon as the ongoing step is completed, and the "Robot-in-operation (output)" signal will be turned off. The suspended program will resume by I/O command "Program start" input.

For resuming the program after an step stop, refer to, "Program Operation(0001)".

Timing Chart

The following shows the status change when a suspended program is resumed by an I/O command.