Denso RC5 - Manual (Page 112)

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4.4.4 Program Start (Input)
(1) Function
This signal starts the program specified with the program No. select signal
from the external device.
(2) Terminal number
No.10 of connector CN8.
(3) Input conditions and operation
By switching the status of this signal from ON (open) to ON (shorted) in
external mode, operations
, ‚ and ƒ described below will take place.
(The status of the signal must be switched from OFF to ON.)
 If the program start signal is input (switched from OFF to ON) when the
robot has not yet completed the program or is at rest after it has
completed a cycle of the program, the program No. select signal will be
read, the program will execute a cycle, and the robot will come to a
stop.
1-cycle Operation Wait for start
50 ms. or more required
Wait for start
Program ON (shorted)
start signal OFF (open)
Robot status
Program Start Operation-1
Caution: The program start signal requires program start preparation
time (50 msec. or more) before input from OFF (open) to ON
(shorted).
The program start signal must remain OFF (open) during the
program start preparation time. If it is turned ON (shorted)
during that time, the next cycle will not start to run.
To start a new cycle, the status of the external start signal
must be switched from OFF to ON before each cycle.
Single-cycle
operation Single-cycle
operation