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3.2 Usage of System Output Signals
The usage of each system output signal is described below:
3.2.1 Robot Initialized (output)
(1) Function
This signal tells the external device that the OPERATION PREPARATION
command is ready to execute.
(2) Terminal number
#48 on connector CN5
(3) Usage
With this signal and Auto Mode output signal being ON, the OPERATION
PREPARATION command must be executed.
(4) ON conditions
This signal will be turned ON when:
(a) Turning the controller power on normally starts the system program in it
and the OPERATION PREPARATION command becomes ready to
execute.
(b) A robot error is cleared by the OK or Cancel key on the teach pendant or
mini-pendant or by Clear Robot Error (001) after this signal has been
turned OFF.
(5) OFF condition
This signal will be turned OFF when a robot error occurs.
Robot Initialized Output
Robot error
- Pressing the OK or Cancel key on the teach
pendant of mini-pendant has cleared a robot error.
- Entry of
Clear Robot Error (001) from an external
device has cleared a robot error.
After the power was turned ON,
the system has started normally.
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