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3.2.3 Operation Preparation Completed (output)
(1) Function
This signal tells that the motor power is ON and the robot is in External auto
mode.
(2) Terminal number
#50 on connector CN5
(3) Usage
With this signal being ON, the robot must be in External auto mode and the
motor power must be ON to run the robot from the external device.
(4) ON conditions
The signal will be turned ON under the External auto mode and motor ON.
Operation to switch to External auto mode
(a) When the External mode is selected on the teach pendant or
mini-pendant.
(b) When the External mode is turned ON by the OPERATION
PREPARATION command from the external device.
Operation to switch the motor ON
(a) When the motor key is pushed on the teach pendant or mini-pendant.
(b) When the motor is turned ON by the OPERATION PREPARATION
command from the external device.
(5) OFF conditions
The signal will be turned OFF under the following conditions;
- Out of the External auto mode
- Under the motor OFF.
Operation to exit External auto mode
(a) When internal mode is selected on the teach pendant or mini-pendant.
(b) When the mode selector switch of the teach pendant or mini-pendant is
set to MANUAL or TEACH CHECK in External mode.
(c) When an Emergency Stop input signal is turned ON.
(d) When a Robot Error output signal is turned ON. (Except level 2 error)
(e) When an Enable Auto input signal is turned OFF.
(f) When a Protective Stop input signal is turned OFF. (Only for the global
type of controller)
Operation to switch the motor OFF
(a) When the motor power is turned off with the MOTOR key or the
emergency stop button is pressed on the teach pendant or mini-pendant.
(b) When a Robot Error output signal is turned ON.
Note: If any of ERROR 6071 to 607B, 6671 to 667B and 607F occurs in
the Manual mode or Teach check mode, the motor power will not be
turned OFF.
(6) Note for software version 2.00 or later
To get the Operation Preparation Completed signal status using an
SYSSTATE command, AND Bit 2 "Servo ON" and Bit 5 "External Mode" to use
the result of the logical operation.
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