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Types and Functions of System Input Signals

The table below lists the system input signals.

Use to: Signal name Function

Stop *1

 Step Stop
(All tasks)		 Releasing the signal step-stops all programs being executed.
Instantaneous Stop (All tasks) *2 Releasing this signal instantaneously stops all programs being executed.
External Emergency Stop (dual line) Releasing this signal stops the robot in an emergency.
Select mode Enable Auto
(dual line)

Short-circuiting this signal enables switching to Auto mode.

The Enable Auto and Protective Stop input signal circuits are connected in series in the controller, so two types of inputs are available as an automatic operation permission signal.
Protective Stop (dual line) When releasing the signal by Auto mode, suspend the program and turns the motor off.

Prepare for operation

Start program,

Clear error

 Strobe Signal This signal initiates the processing of the I/O commands set in the data and command areas.
Data areas (3 bits)

These areas are used to specify I/O commands that enable the following:

- Start/stop each task program.

- Prepare for operation

- Clear robot errors.

Note: For details, refer to Section 3.5.3 "I/O Commands Details
Command areas (3 bits)

*1; In External automatic operation, be careful with the following:

  1. The moment each of these signals is released, the corresponding stop processing starts.
  2. As long as it is not necessary to stop the robot, these stop signals should be short-circuited.

*2; The Instantaneous Stop signal becomes available only when an I/O extension board is used and the allocation mode is changed to Standard or Compatible mode. Like other stop signals, this signal should be short-circuited as long as it is not necessary to stop the robot.

System output signals are checked every 8 ms.

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