Denso RC5 - Manual (Page 120)

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4.4.6 Robot Stop (Input)
(2) Function
 The signal stops the robot with the external device by opening the robot
stop input
‚ The signal readies the power to the robot motor to be turned ON by
shorting the robot stop input.
(2) Terminal number
No.2 of connector CN8.
(3) Input conditions and operation
 The robot stops with this signal OFF (open).
‚ The power to the robot motor is ready to be turned ON with this signal
ON (shorted).
ƒ Irrespective of whether internal mode (operation with the teach
pendant) or external mode (remote operation by the external device) is
selected, the power to the robot motor cannot be turned ON with this
signal OFF (open). Neither manual nor automatic operation can be
performed until this signal is turned ON (shorted). (ERROR2008 will be
displayed.)
„ By turning OFF (open) this signal under the following conditions.
1) The power to the motor will be turned OFF, irrespective of whether
Manual, Internal Auto, or External Auto mode is selected.
2) During execution of the program (Robot-in-operation signal ON), the
power to the motor will be turned OFF and the mode will be
switched to internal mode after the robot decelerates to a stop.
3) When the program is at a stop in the Manual and the Auto mode the
power to the motor will be turned OFF. The suspended operation
can be resumed by turning ON the power to the motor and shorting
the ROBOT STOP signal.
Opening the ROBOT STOP signal and pressing the ROBOT STOP
button of the operating panel or the teach pendant function the same.
(4) Input timing
This signal will be processed prior to all commands and input signals.