Concurrent I/O•Parameter - Motoman

1.5 Specific Input Signals (4xxx)Operating InstructionsState4016: In-Guard Safe Operating InstructionWhen this signal is on, the playback panel operating speed is limited by in-guard safeoperation speed. If approaching the manipulator during operation’s unavoidable, theoperating speed can be limited by turning the signal on. It will therefore be convenientto interlink the signal with the safety guardrail or safety mat.NOTEThis signal is only to limit speed. Since the manipulator operates as taught, prepare the“EMERGENCY STOP” button so that it can be pressed at any time in the event of anemergency when one approaches the robot.StateStateState4046: Check OperationThis signal is not a start instruction. When the signal is on, the work instruction in thejob is not executed. Use the signal to check taught steps and motions. This signal isinvalid when “CHECK/ MACHINE LOCK PROHIBIT” on the operating condition displayis on.4047: Weaving ProhibitionWhen these signals are on, weaving in the job are not executed. Use the signals tocheck taught steps and motions with weaving off.4060 to 4070: 1-Step Back Operating InstructionWhen these signals are on, at start up the manipulator moves to one step before thedisplayed step at low speed and stops there disregarding the cycle. These can beused for performing the operation one step before since some operations are difficultto be executed.For a system with one manipulator, use signal No. 4060.State4061 to 4071: Sequence WaitThe manipulator pauses while this signal is on. Although it is functionally the same as“HOLD”, it differs in the following ways:1. When these signals are turned on while the manipulator is operating, the manipulatorpauses temporarily, but it is still in an operating state. If these signals are turned onduring an instruction other than a moving instruction (MOV), the instruction is continued.The “START” lamp remains lit and the “OPERATING” signal remains on. If themanipulator is operating at high speed when these signals are on, the manipulatorreduces its speed and stops.2. The status of these signals are controlled. Motion of the manipulator is automaticallyresumed when changing from on to off.1-26