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

1. If the status of this signal is changed from ON (shorted) to OFF (open), the robot will stop all tasks immediately after the ongoing step is completed, and the Robot-in-operation signal will be turned OFF. However, External Auto mode will remain valid, and the suspended program will be resumed by inputting a program start signal. See the figure given below.
2. Turning OFF (open) this signal when inputting a program start signal makes the robot stop step by step.
3. Internal operation with the teach pendant is valid only when the status of this signal is changed from ON (shorted) to OFF (open).
4. For resuming the program after a step stop, refer to "Program Start (Input)."

Timing chart