Denso RC5 - Manual (Page 63)

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3.4.5 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 correct step operation will immediately stop and
the next step will start.
Caution: For further information about the INTERRUPT ON and OFF
commands, see the PROGRAMMER'S MANUAL (I), Chapter 12,
"12.3 INTERRUPT ON/OFF (Statement)."
For further information about the robot operation command,
see the PROGRAMMER'S MANUAL (I), Chapter 12, "Robot
Control Statements."
(2) Terminal number
No.9 of connector CN8.
(3) Usage
See 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
current operation and start executing the next step.
INTERRUPT ON
Input Conditions and Operation of Interrupt Skip
Robot status
Command Operating halfway Next operation
50 ms. or more required
Interrupt skip signal (input) ON (shorted)
OFF (open)