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ID : 996
Robot-in-operation (Output)
Function
This signal outputs to the external device that the robot is in operation.
Usage
The signal is used to light the robot operating indicator lamp of an external operating panel.
Since the signal is turned OFF with STOP ALL PROGRAMS, outputs to the external device that all programs are stopped.
ON Conditions
The signal will be turned ON during execution of the program and also while in the WAIT STATE with a condition branch or timer command.
However, this signal will not turn ON while Supervisory tasks or TP panel tasks are running.
OFF Conditions
The signal will be turned OFF with STOP ALL PROGRAMS.
STOP ALL PROGRAMS means the operation of the ROBOT STOP or STOP button of the operating panel or teach pendant and INSTANTANEOUS STOP (ALL TASKS), STEP STOP (ALL TASKS) and ROBOT STOP inputs.
Timing Chart
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ID : 996