Robot Initialization Complete (Output)

Function

The signal outputs to the external device that a MODE SWITCHING COMMAND is ready to execute from the device.

Usage

The "mode switching command" will be executed as soon as this signal and the auto mode signal are turned ON, after the power is turned ON.

ON conditions

1. The signal will be turned ON when the system program for the Robot Controller normally starts, after the power is turned ON and the mode switching command is ready to execute.
2. The signal will be turned ON when a robot error is cleared by the CANCEL key of the teach pendant, mini-pendant or by Clear Robot Error, after the power is turned OFF.

OFF condition

The signal will be turned OFF when a robot error or robot warning signal is turned ON.

Timing chart