Denso RC5 - Step Stop (All Tasks) Input Signal

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3.4.3 Step Stop (All Tasks) (Input)
(1) Function
Input this signal to step-stop the program being executed from the
external device. All tasks will be step-stopped.
(2) Terminal
No.5 of connector CN8.
(3) Input conditions and operation
 If the state of this signal is changed from ON (shorted) to OFF (open),
the robot will stop all tasks as soon as the ongoing step is completed,
and the Robot-in-operation signal will be turned OFF. However, auto
mode or external mode will remain valid, and the suspended program
will be resumed by inputting a program operation command (start). See
the figure given below.
 For resuming the program after a step stop, see Chapter 5, Subsection
5.3.2 "Program Operation Command (0001)".
Step Stop Signal
Robot status
1-cycle operation
Operating halfway
At step-stop
Performing
Remaining operation
Program start signal (input) ON (shorted)
OFF (open)
Step-stop signal (input) ON (shorted)
OFF (open)
Robot-in-operation (output) ON (shorted)
OFF (open)