Interrupt Skip (Input)

Function

If this signal is turned on during execution of the robot operation command, within the range between "Interrupt on" and "Interrupt off" in the program, the correct step operation will immediately stop and the next step will start.

For details about Interrupt command, refer to  "Interrup"  of Programmer's manual.

Input Conditions and Operation

If this signal is turned on, the robot will immediately stop the current operation and start executing the next step.

Timing Chart

The following shows the status change when an Interrupt Skip input signal turns on while an Approach command written between two Interrupt commands is executed.
In this case, once the Interrupt Skip signal turns on, Approach motion will be stopped immediately and the program moves to Depart command.