This signal provides the command for the general tool to operate. TOOL ON instruction execution or the [TOOL ON] key in the programming pendant turns this signal ON and TOOL OFF instruction execution or the [TOOL OFF] key in the programming pendant turns it OFF. However, it remains OFF while the WORK PROHIBITED signal (2022) is input or while the robot is stopped.Functions the same as the [START] button in the playback panel . Only the rising edge of the signal is valid. It starts robot operation (playback). This signal is invalid if external start is prohibited from the playback condition display Only the rising edge of the signal is valid. It calls up the top of the robot program, that is the top of the master job *1. This signal is invalid during playback, during teach-lock and when play master or call is prohibited (set from the playback operation condition display).
After an alarm or error has occurred
the cause been corrected, this signal resets the alarm or error.Functions the same as [REMOTE] on the playback panel. Valid only while the signal is ON. It selects the REMOTE mode.Functions the same as [MODE] on the playback panel. Only the rising edge of the signal is valid. It selects the PLAY mode. If designated simultaneously with other modes, the TEACH mode takes priority. This signal is invalid if external mode selection is prohibited from the operation condition display The TEACH mode is selected if this signal turns ON during PLAY mode. Switching to other modes is disabled while this signal is ON. If this signal turns ON while the SELECT PLAY MODE signal is ON, this signal takes priority and the TEACH mode is selected.
If the manipulator attempts to enter the cube 1*2
area while this signal is ON, the manipulator goes to wait status (with servo power ON). During wait status, the manipulator operation restarts if this signal turns OFF.If the manipulator attempts to enter the cube 2*2 area while this signal is ON, the manipulator goes to wait status (with servo power ON). During wait status, the manipulator operation restarts if this signal turns OFFThis signal inputs the welding ON/OFF selector switch status from the sequencer in the interlock unit. The WELD ON/OFF signal is output to the welder according to this signal and the manipulator status. Welding is not wxecuted when this signal is input (ON).
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