Omron R6YXC1000, User Manual, Page: 98 / 260

4
I/O interf
ace
4-16
1.11.5 Stopping by program stop
■
Stopping by program stop
a) b) c) d) e) f) g) h) i)
Return-to-origin complete
DO11
Robot program-in-progress
DO13
Stop
DI06
Automatic operation start
DI12
100 ms
or more
Conditions: AUTO mode
on
off
on
off
on
off
on
off
Program execution
a) Automatic operation start input turns on.
b) Robot program-in-progress output turns on.
c) Automatic operation start input turns off after checking that the robot program-in-progress output turns on.
Program stop process by stop input
d) Stop input turns off.
e) Robot program-in-progress output turns off.
Program execution process after program stop by stop input
f) Stop input turns on.
g) Automatic operation start input turns on.
h) Robot program-in-progress output turns on.
i) Automatic operation start input turns off after checking that the robot program-in-progress output turns on.
* Switching to emergency stop status will cause the program to stop. Alarm output turns on and the servo ON output
turns off. It is required that the servo turns on to execute the program again.
WARNING
The stop signal is not a safety input. Therefore, do not use this signal for the safety purpose.
Even when the stop signal is turned on, the servo does not turn off.
CAUTION
If the program execution is stopped halfway by the stop input, it is executed again from the command that stops
the program.
When the program execution is stopped during robot movement, the robot movement is started by executing the
program again. Therefore, take great care when executing the program again.