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3.4.3 Enable Auto (input) (Standard type of controller)
(1) Function
(a) Turning this signal ON (shorting) enables switching to Auto mode.
(b) Turning this signal OFF (opening) enables switching to Manual or Teach
check mode.
(2) Terminal number
#1 and #35 on connector CN5
(3) Usage
This signal is used to connect the Auto/Teaching selector switch of an
external operating panel.
(4) Input conditions and operation
(a) As shown below, the selectable operation mode depends on whether this
input is shorted or open.
(b) If the input becomes open during automatic operation, the mode will be
switched to Manual mode and ERROR21FC will be displayed.
(c) If manual operation or a teach check is conducted with this input shorted,
ERROR21F2 will be displayed.
(d) With this signal being opened, turning the mode selector switch on the
teach pendant or mini-pendant from the MANUAL or TEACH CHECK to
AUTO position triggers ERROR21F3.
Since this state is shown as × in the table below, this error will remain
displayed until the robot exits this state.
(e) Although ERROR21FD or ERROR21FC will be displayed when the state
is changed from
to Δ or ×, they will not be displayed when the state is
changed from Δ or × to .
(f) Turning this signal OFF (open) in External mode switches to the internal
mode and turns the Operation Preparation Completed output signal OFF.
Relationship Between Enable Auto Input and Selectable Mode
Enable Auto
Operation mode Application
ON (shorted) OFF (open)
Manual mode
Manual operation with the teach pendant or
mini-pendant.
Δ
Teach check mode Program check with the teach pendant or mini-pendant. Δ
Internal auto mode
Automatic operation with the teach pendant or
mini-pendant.
×
External auto mode Automatic operation with the external device. ×
Note: = Mode selectable × = Mode not selectable
Δ = Mode selectable but manual operation program not executable
Caution: In the pendantless state, auto mode is valid even if the Enable Auto input is open. (The External
mode cannot be switched and the program cannot begin execution.)
Perform the following when operating the robot in the pendantless state:
(a) Set the robot so that it will not start to operate when the Enable Auto input is open.
(b) Enable Auto input open state and Auto Mode output (See Section 3.2.2 "Auto Mode
(output).")
Set the equipment to make an emergency stop in an AND state.
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