Denso RC5 - Manual (Page 124)

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4.4.10 Interrupt Skip (Input)
(1) Function
If this signal is turned ON (shorted) during execution of the robot operation
command within the range between INTERRUPT ON and INTERRUPT
OFF in the program, the operation of the ongoing step will stop and the
next step will start.
Note: For further information about the INTERRUPT ON and OFF
commands, refer to the PROGRAMMER'S MANUAL (I), Chapter
12 "12.3 INTERRUPT ON/OFF (Statement)."
For further information about robot motion commands, refer to
the PROGRAMMER'S MANUAL (I), Chapter 12, "Robot Control
Statements."
(2) Terminal number
No.9 of connector CN8.
(3) Usage
Refer to the PROGRAMMER'S MANUAL (I), Chapter 12 "12.3
INTERRUPT ON/OFF."
(4) Input conditions and operation
If this signal is turned ON (shorted), the robot will immediately stop the
ongoing operation and start executing the next step.
Robot status
INTERRUPT ON
command
Operating halfway Next operation
Interrupt skip ON (shorted)
signal (input) OFF (open)
50 ms. or
more required
Input Conditions and Operation of Interrupt Skip