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7
– 13

7.2.5 How to restart operation after turning power OFF in palletizing mode
During palletizing with this ROIbot, work can be restarted with the following conditions even if
the power is turned OFF while the program execution is stopped.
Set the restart input bit in the mode setting. (Refer to section 13.2.2.)
Using the status setting (input ON) step No. and counter items when the mode setting restart
is validated at the initial settings.
(Refer to section 13.2.12.)
After turning the power OFF, turn the restart input ON, and turn the power ON. After returning
to the origin, the program will be restarted with the following conditions.
Note that the status setting (input ON) step No. and counter items when the mode setting
restart is validated must be used at the initial settings.
Palletizing flow chart
Process
Position where
power is
turned OFF
Restart method
At processes
1 to 2
Starts from process 1
(from beginning)
At processes
3 to 6
Starts from process 3
(continuing of operation)
At process 7
Starts from process 1
(It is interpreted that the
process has been
completed, so operation
will start from process 1.)
NOTE

If the operation is stopped between
processes 3 and 6, the axis will stop at
the S side or D side. However, if it is
stopped at the D side (process 5 or 6),
start again after returning one work to
the S side pallet.
When stopped at the S side (process 3
or 4), confirm that the work is at the S
side pallet, and then start.

Resuming of operation is possible only
when the power is turned OFF while the
program execution is stopped (stopped
in normal state). If the power is turned
OFF during execution of a program
(during operation), restarting will not be
possible. A restarting not possible error
will occur.
Start
End
When start signal is input,
program selection input is
referred to, and set
program is jumped to
Movement to source side
Movement to designation side
Start program execution
Source side hand program
execution
Designation side hand program
execution
End
2
3
7
6
5
4
1
NO
YES
End program execution
S side
(source
side)
D side
(destination
side)