Shibaura CA20-M10, Руководство по эксплуатации

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6
– 18
If
STOP
is pressed, the program will stop after completing the step currently being executed.
To restart the program, press
START
.
NOTE If the EMERGENCY STOP button is pressed, the robot will coast to a stop. The
stopping distance will differ according to the load size, speed and inertia.

Operation with external signals
Use the following procedure to carry out operation with the external signals. Refer to section
17.1 on how to disconnect the Teach Pendant.
The following settings must be made before carrying out operation.
Set the controller mode setting to the easy mode. (Refer to section 13.2.10.)
Set the program selection input bit designation to the general-purpose input. (Refer to
section 13.2.5.)
[Operation procedures]
1. Carry out return to origin with the system input return to origin.
2. Designate the easy program No. to be executed with the system input program No.
selection.
3. Input the start signal to execute the program.
4. If the stop signal is input during operation, the program will stop after ending the step
currently being executed.
5. To restart from the step where the program was stopped, input the start signal.
6. To start from step 001, input the reset signal and then input the start signal. If the restart
function is valid, the reset input will be ignored. Refer to section 10.2.6 for details.
(2) Single operation
During single operation, the program will stop once after the axis movement or output
related operation is executed. To start or restart the program, input the start signal or
press
START
. Normally this is used to verify a program.
An example of single operation is given below.
1. Turn the single operation input signal ON.
2. The following operations are basically the same as continuous operation. (Refer to
section 6.2.1 (1) Continuous operation.)
3. When the program has stopped operation, press
START
or input the start signal to
sequentially start the program.

The single operation mode input setting in the mode setting must be set. (Refer to
section 13.2.1.)

Operation with either the Teach Pendant or external signal is possible.

The single operation input signal must retain the ON state during single operation.
If the single operation input signal is turned OFF during single operation, the remaining
program will be continuously operated.

Even if the single operation input signal is input during continuous operation, it will be
ignored, and continuous operation will continue.

The following commands can be used for stopping after execution.
MOVP, MVB, MVE, HOME,
OUT, OUP, OUTC