Denso RC5 - Manual (Page 122)

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4.4.8 Instantaneous Stop (All Tasks) (Input)
(1) Function
Input this signal to instantaneously stop the program being executed from
the external device. All tasks will instantaneously stop.
(2) Terminal number
No.7 of connector CN8.
(3) Input conditions and operation
 If the status of this signal is changed from ON (shorted) to OFF (open),
the robot will instantaneously stop in the middle of the ongoing step,
and the Robot-in-operation signal will be turned OFF. However, Auto
mode or external mode will remain valid, and the suspended program
will be resumed by inputting a program start signal.
‚ Internal operation by the teach pendant is valid only when the status of
this signal is changed from ON (shorted) to OFF (open).
ƒ For resuming the program after an instantaneous stop, refer to
Subsection 4.4.4 "Program Start (Input)".
„ The minimum required pulse width is 50 msec. or more.
ON (shorted)
50 ms. or more required
Instantaneous
stop
OFF (open)
Minimum Instantaneous Stop Pulse Width