Denso RC7M - Enable Auto (Input) (Global Type of Controller)

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3.4.4 Enable Auto (input) (Global type of controller)
(1) Function
(a) Turning this signal ON (shorting) enables switching to Auto mode. (Dual
line)
Note: The Enable Auto and Protective Stop input signal circuits are
connected in series in the controller and those signals are used as an
automatic operation permission signal when turned ON (closed).
(b) Turning this signal OFF (opening) enables switching to Manual or Teach
check mode.
(2) Terminal number
Signal name Terminal number
Enable Auto input 1 #7 and #25 on CN10
Enable Auto input 2 #8 and #26 on CN10
Note: For the circuit configuration, refer to Sections 4.2.5 and 5.2.5. Two
Enable Auto input signal circuits must be controlled with two separate
contacts each. Two circuits connected in parallel using a single contact or
an always-shorted circuit will be interpreted as an external circuit error so
that the circuitry will not operate.
(3) Usage
This signal is used to connect the AUTO/TEACHING selector switch of an
external operating panel.
(4) Input conditions and operation (with Protective Stop input signal ON)
(a) As shown below, the selectable operation mode depends on whether this
input is shorted or open.
(b) Turning this signal OFF (open) during automatic operation turns the motor
power OFF (Continue stop) and displays ERROR21FC.
(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 turns the motor and the
Operation Preparation Completed output signal OFF.
Relationship Between Enable Auto Input and Selectable Mode
(With Protective Stop input signal ON)
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