Function description
System Description Service Robotics Modules
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Starting the robot program externally
If the specified requirements are met, the robot program can be started as soon as the mo-
tion controller sets the output "Status ready external" to 1; i.e. the motion controller uses a
1-signal at the output "Status ready external" to indicate that the motion enable is present
and it is ready to start the robot program. If the specified requirements are not met, the start
signal is ignored.
}
To start the robot program, the higher level controller sends a start signal to the input
"Start external".
When the signal at the input "Start external" changes from 0 to 1, execution of the robot
program will start provided the input "Reset external" has a 0-signal. A message will ap-
pear on the teach pendant, indicating that the robot program is being executed.
}
The motion controller sets the output "Status running external" to 1 for as long as the fol-
lowing conditions are met:
– A robot program is being executed.
– Execution of the robot program is not interrupted or stopped.
}
The motion controller sets the output "Status running external" to 0 when at least one of
the following conditions is met:
– The operating mode "Automatic external" is not active.
– The motion enable is not present (output "Status ready external" has a 0-signal).
– The end of the program has been reached.
For an external start, please refer to the diagram "External start/stop and external reset of
the robot program".
Stopping the robot program externally
Provided the operating mode "Automatic external" is active, the robot program can be
stopped via the higher level controller. If the condition is not met, the motion controller ig-
nores the stop signal.
}
To stop the robot program, the higher level controller sends a stop signal to the input
"Start external".
When the signal at the input "Start external" changes from 1 to 0, the robot program that
is currently being executed and the movement of the robot arm are stopped. This stop
corresponds to a controlled stop of the robot movement; i.e. this stop does not trigger the
stop function SS1.
}
The motion controller sets the output "Status running external" to 0 and a message ap-
pears on the teach pendant, indicating that the robot program has been stopped.
For an external stop, please refer to the diagram "External start/stop and external reset of
the robot program".
