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(3) Example of restarting the robot after servo OFF (emergency stop)
EX_SVON (I)
SVOFF (I)
EMG_IN* (O)
~ EMG_OUT*
SVON_1a (O)
~ SVON_COM
Program (I)
selection
STROBE (I)
ACK (O)
PRG_
STEP_ RST (I)
CYC_
RET-1 (I)
~ RST-2
SV_RDY (I)
RUN (I)
AUTORUN (O)
To include a delay time of 2.5 seconds or over between the EX_SVON signal
ON and the RUN signal ON, set ON the RUN signal only after the SV_RDY
signal is ON.
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)
* When emergency stop
contacts 1 and 2 are valid
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