Continue Function

Continue function is the function that restarts multiple suspended programs due to errors or other reasons during multitasking from the latest process.
To restart multiple tasks simultaneously is called "Continue start".
The condition that able to execute "Continue start" is called "Continue-stopped (condition)".
If the robot is moved by some cause after it is stopped, "Continue start" cannot be executed.

Conditions to Enable "Continue-stopped(condition)"

"Continue-stopped(condition)" is executed when at least one of the following conditions is satisfied.

• Halt or Step stop for all tasks
• Motor power OFF
• Level 1 or Level 2 errors
• The emergency button on the teach pendant is pressed, or [Emergency Stop] caused by releasing the external emergency stop input (system input signal).
  
  This condition is effective when [Suspend all tasks] is selected from [Program after Robot Stop] in the teach pendant settings.
  For more details, refer to "Settings Associated with Program Stop" of the teach pendant operation guide.

Resume Operations

When "Continue start" is executed, all the programs being stopped by "Continue-stopped(condition)" resume operation.

"Continue Start" Operating Procedure

"Continue start" is available only when there are "Continue-stopped" programs.
To execute "Continue Start Permitted (Output)" from I/O, be sure to check Continue start permission output signal is issued beforehand.

Regarding to operation procedures, please refer to "System I/O signal guide"

• "Continue Start (011)" and "Continue Start Permission (output): Selectable by I/O hardware setting" of Mini I/O" of the Mini I/O dedicated mode
• "Program Operation Command(0001)" and "Continue Start Permitted (Output)"of the Standard mode.
  
• "Continue Start (Input)" and "Continue Start Permitted (Output)"of the Compatible mode.

Enabling Continue Start Permission Signal (in Mini I/O Dedicated Mode)

The continue start permission signal is disabled by factory default in mini I/O dedicated mode. One of the user outputs can be configured to be used as a continue start permission signal.

"Continue Start Permission (output): Selectable by I/O hardware setting" of "System I/O signal guide".
Regarding to the operation procedure, please refer to "Displaying and Changing I/O Parameters" of "Teach pendant operation guide".

Resetting Programs

Reset a "Continue-stopped" program to restart it from the beginning.

Regarding to operation procedures, please refer to the following links.

From Teach Pendant

"Displaying Program List Window (Automatic Mode)" of the Teach Pendant Operation Guide

From Mini Pendant

"Resetting Programs" of Mini Pendant Operation Guide.

From System I/O Input Signals

• System I/O Signals Guide
• "Specified Program Reset (100)" and "All Programs Reset (101)" of Mini I/O Dedicated mode
• "Program Operation Command(0001)" of Standard mode
• "Program Reset (Input)" of Compatible mode

Position Gap Detection Function

If the position or figure of the robot is changed after robot operation completes, "Continue start" execution may cause an error.
This error occurs when the positional gap between current position and the robot stopped originally goes beyond the allowable level.
Allowable level is set in "Allowance for Position gap detection(J1-J8)" of "Configuration List".