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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.
3.4.5 Protective Stop (input): Global type of controller
(1) Function
Opening this input signal circuit in Auto mode allows the external device to
continue-stop the robot. (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).
(2) Terminal number
Signal name Terminal number
Protective Stop input 1 #5 and #23 on CN10
Protective Stop input 2 #6 and #24 on CN10
(3) Usage
This signal is used for a safety door switch and other safety devices.
(4) Input conditions and operation (with Enable Auto input signal ON)
Note: The Enable Auto and Protective Stop input signal circuits are
connected in series in the controller and have the same function. (See
Section 3.4.4.)
(a) Turning this signal OFF (open) in Auto mode turns the motor power OFF
and continue-stops the robot.
(b) Turning this signal OFF (open) in Manual mode turns the motor power
OFF.
Note: For the circuit configuration, refer to Sections 4.2.5 and 5.2.5. Two
Protective Stop 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.
(5) Input timing
In Auto mode, this signal will be processed prior to other input signals and all
commands.
Note: Switching the Protective Stop and Enable Auto input signals from
open to close does not require temporal conditions, but requires any
action to switch.
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