Shibaura CA20-M10, Operating Manual, Page: 148 / 384

7
– 16
Operation with external signals
Use the following procedure to carry out operation with the external signals.
The Teach Pendant must be disconnected from the controller or turned OFF to carry out
operation with external signals. (Refer to section 17.1.)
1. Turn the palletizing input signal ON.
The palletizing input signal must be set with the mode setting. (Refer to section
13.2.16.)
2. Turn the controller power ON.
3. If READY output is set with the mode setting, check the ON state and then input the
input signal. (Refer to section 13.2.15.)
If the READY signal is not set with the mode setting, the next input signal will be input
approximately two seconds after the power is turned ON.
4. Turn the return to origin signal ON and return to the home.
The return to home input signal must be set with the mode setting. (Refer to section
13.2.6.)
5. Confirm that the return to origin signal is ON and then input the next signal.
6. Turn the start signal ON and start the program.
The palletizing input signal state will be checked when the start signal is input. If the
signal is ON, the palletizing mode program will be started.
NOTE The palletizing mode can be entered only from the sequential mode. Thus, the mode
setting must be set to "Invalid" as shown in section 11.2.10. If a state other than
"Invalid" is selected, the palletizing input signal will be ignored.

If a stop signal is input during operation, the program will stop after ending the
operation currently being executed.

To restart the program after stopping with a stop signal or STOP command, input
the start signal again. To start the program from the start again, input the reset
signal and then input the start signal.
Note that the restart mode setting and restart signal input state are related. (Refer to
sections 13.2.2, 13.2.12 and 13.2.13.)

Refer to section 7.2.5 for how to restart operation after turning the power OFF.