– 90 –
(4) Example of restarting the robot after error correction
To resume the automatic operation after an error has occurred (i.e., processing
of automatic operation after error correction):
EX_SVON (I)
ALARM (O)
ALM_RST (I)
SVON-1a (O)
~ SVON-COM
SYS_RDY (O)
SV_RDY (O)
Program selection (I)
STROBE (I)
ACK (O)
PRG_
STEP_ RST (I)
CYC_
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)
Note 1: To continue the automatic operation, program selection, PRG_RST,
STEP_RST and CYC_RST are necessary.
Note 2: The servo power may not be turned off with some type of error.
Note 3: Program selection, PRG_RST, STEP_RST and CYC_RST can be
executed at any timing unless the auto operation mode is selected.
To Next Page
Loading...
