IAI America IA-T-XD - Manual (Page 133)

17-11. Driving power recovery request (RPwr) and action restart request
(RAct)
(1) Driving power recovery request
① How to request driving power recovery
The driving power recovery can be requested with any of the following methods:
▪ Set the I/O parameter No. 44 (input selection function 014 = driving power restart input) to
1, and input ON edge for the input port No. 14.
▪ Select Controller (C) from the PC software menu and execute Driving Power Recovery
Request (P).
▪ Select Ctl (controller operation) on the Mode Selection screen of the Teaching Pedant
and execute RPwr (driving power recovery request).
② Case where driving power recovery request is required
The driving power recovery request is required only in the following case:
▪ Where the factor behind the driving power down occurs when the I/O parameter No. 44 is
set to 1 and the driving power recovery is attempted after the factor removal.
(2) Action restart request
① How to request action restart
The action restart can be requested with any of the following methods:
▪ Set the I/O parameter No. 35 to 1 (input selection function 005 = action restart signal),
and input ON edge for the input port No. 5.
▪ Select Controller (C) from the PC software menu and execute action restart request (L).
▪ Select Ctl (controller operation) on the Mode Selection screen of the Teaching Pendant
and execute RAct (action restart request).
② Case where action restart request is required
The action restart request is required in any of the following cases:
▪ Where the controller in auto run stops with the Deadman switch when the other
parameter No. 9 is set to 2 (Deadman SW recovery type = action continuation recovery
[only in auto run]) and recovery is attempted after the stop reset (action restart).
▪ Where the controller in auto run makes an emergency stop when the other parameter No.
10 is set to 2 (emergency stop recovery type = action continuation recovery [only in auto
run]) and recovery is attempted after the emergency stop reset (action restart).
▪ Where the safety gate is OPEN in auto run when the other parameter No. 11 is set to 2
(safety gate OPEN time recovery type = action continuation recovery [only in auto run])
and recovery is attempted after safety gate CLOSE (action restart).
▪ Where the input port No. 6 OFF level is input (action temporary stop) in auto run when
the I/O parameter No. 36 is set to 1 (input selection function 006 = action temporary stop
signal) and recovery is attempted after the input port No. 6 ON level input (action restart).
* Where (1) ② overlaps (2) ②, it is required to execute the driving power recovery request first and
then the action restart request.
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