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ID : 1397

Operation Preparation Completed (output)

Function

This signal turns on when all the following conditions are met;
- Motor is ON,
- Auto mode is selected, and
- Executable token is other than TP (when any of I/O, Ethernet, or Any is selected).

Terminal Number

#50 on Mini I/O connector

Usage

To move a robot by starting a program from a PLC, you need to turn on this signal.
Start a program from a PLC while this signal is ON and no error is occurred.

ON Conditions

This signal turns on when all the following conditions are met;
- Motor is ON,
- Auto mode is selected, and
- Executable token is other than TP (when any of I/O, Ethernet, or Any is selected).

Operation to Switch the MOTOR Key ON

  1. Turning ON a MOTOR key of a teach pendant or mini pendant.
  2. Turning ON motors by OPERATION PREPARATION command of PLC.

Operation to Switch to AUTO Mode

Switching to AUTO mode with a teach pendant or mini pendant under Enable Auto-ON state.

Setting an Executable Token

To start a program from a PLC, the executable token must be set to I/O or ANY.

OFF Conditions

This signal turns OFF when at least one of the following conditions is met;
- Motor power turns OFF,
- Either Manual mode or Teach mode is selected,
- Executable token is TP.

Operation to Turn OFF the Motor Power

  1. Turning ON of "Emergency Stop" input signal.
  2. Issuance of an error (level 3 or higher) and turning ON of Robot Error output signal.
  3. Turning OFF of Enable Auto input signal.
  4. Turning OFF of Protective Stop input signal (except for Safety I/O less specification).
  5. Turning OFF of MOTOR key of a teach pendant or mini pendant, and operation of Emergency Stop button.
  6. Switching between Auto mode and Manual mode with a teach pendant or mini pendant.

Operation to Exit from AUTO Mode

  1. Switching to Manual mode with a teach pendant or mini pendant.
  2. Turning OFF of Enable Auto input signal.
    (Pendant-less specification will remain AUTO mode even if Enable Auto is turned OFF.)

Setting an Executable Token

If Executable token is TP, Operation preparation completed output does not turn ON.
To start a program from a PLC, the executable token must be set to I/O or ANY.

Timing Chart

ID : 1397

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