Shibaura CA20-M10, Руководство по эксплуатации

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10
– 16

10.2.6 Continuous start input

The general-purpose input port designated for robot continuous start input with the mode setting
can be used for the robot continuous start input. (Refer to section 13.2.2.)

Depending on the status (ON, OFF) of the continuous start input when the power is turned ON
or reset is input, the values for the step No., counter and general-purpose output will be held or
cleared. Whether to hold or clear each data according to the status of the continuous start input
depends on the "status setting for when continuous start is valid" in the mode setting. (Refer to
sections 13.2.12 and 13.2.13.)

The continuous start input is also led in as the general-purpose input data.

Continuous operation can be resumed 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 (when running output is ON) to stop the operation, continuous operation cannot be
resumed. A continuous operation unavailable error will occur. (The operation can be
continued when the emergency stop is applied.)

In the easy mode, continuous start cannot be used after the power is turned OFF.
Mode setting
Valid
(When bit is designated)
Invalid
(When bit is not designated)
Continuous
start input
When ON When OFF
—
Reset
input
Step No.
Refer to
section
13.2.12
Refer to
section
13.2.13
Initialize
Counter Clear
General-purpose
output According to mode setting
(initial value : Hold)
Power
OFF

ON
Step No. Initialize
Counter Clear
General-purpose
output
Clear Clear Clear

10.2.7 Escape input

The general-purpose input port designated as the escape input with the mode setting can be
used as the escape input. (Refer to section 13.2.3.)

If the designated input port turns ON during execution of the MVE command, the robot will
decelerate to a stop, and at the same time it will be interpreted that step has been completed.
The next step will be executed. After the robot decelerates to a stop, the positioning complete
output turns ON.

The escape input is valid only for the MVE command.

10.2.8 Pause (temporary stop) input

The general-purpose input port designated as the pause input with the mode setting can be
used as the pause input. (Refer to section 13.2.4.)

If this input turns ON during execution of the MOV system command, the axis will decelerate
and stop. After the axis decelerates and stops, the positioning complete output also remains
OFF.
The pause input is invalid in respect to commands other than the MOV system command.

Pause input is invalid during return to origin with the return to origin input or during execution of
the HOME command.

To restart (start midway) after stopping temporarily, input start.
Note that the start input is invalid when the Teach Pendant is ON. In this case, use the start key
on the Teach Pendant. Cancellation is also possible using reset.