INTERFACE MANUAL
(3) Example of restarting the robot after servo OFF (emergency stop)
Restart after servo OFF (emergency stop)
EX_SVON (I)
SVOFF (I)
(Emergency stop)
EMSST_A (O)
~EMSST_B
SVST_A (O)
~SVST_B
Program selection (I)
STROBE (I)
CK (O)
RST (I)
PRG_
STEP_
CYC_
SV_RDY (I)
RUN (I)
UTORUN (O)
[2]
[1]
pprox. 1 sec.
* When emergency stop contacts 1
and 2 are valid
[1] Set ON the RUN signal only after the SV_RDY signal is ON.
[2] Include a sufficient delay time before the program select signal starts between
the program select signal input and STROBE signal input. (200 msec or so)
Note 1: Signals EMSST_A ~ EMSST_B (emergency stop contact output) turn on
when the emergency stop contacts 1 and 2 become valid.
Note 2: Program selection, PRG_RST, STEP_RST and CYC_RST can be
skipped unless necessary.
Note 3: Program selection, PRG_RST, STEP_RST and CYC_RST can be
executed at any timing unless the auto operation mode is selected.
STE 71367
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