User`s manual

CHAPTER2 DeviceNet Unit

2-7-4 Interlock (LOCK)

These are inputs to temporarily stop robot movement.

Robot operation can be stopped by setting this input to OFF during running of dedicated

commands from the I/O, during running of a program by HPB (or personal computer), or

during return to origin. (Of course, the program operation also stops.)

When this input is OFF however, dedicated commands from the I/O and running of

programs from the HPB (or personal computer) as well as origin return are all disabled.

Therefore you should normally keep this input at ON.

The only exceptions to this, are the RESET and SERVO commands whose inputs are

enabled regardless of whether this interlock input is ON or OFF.

Once the interlock is set to OFF, the robot remains stopped until another command is

input (AUTO-R, ORG-S) even if the interlock is set to ON again.

MEMO

Interlocks inputs on the parallel I/O of the controller are always operational. So if either

of the 2 interlock inputs is off, the interlock is triggered and automatic operation is disa-

bled. Both interlock inputs must be on in order to run in automatic operation. (On the

SRCP/SRCD series, the parallel I/O interlock can be disabled by the parameter setting.

For more details, refer to "2-4 Parallel I/O connector".)

2-7-5 Emergency stop input (EMG)

Use this EMG input when you want to set the robot to emergency stop. Setting this input

to OFF cuts off the servo power and turns off the servo.

To restart operation, first set this input to ON, then input the servo recovery command

(SERVO) after checking that the READY output is ON. The servo turns ON and the

robot can now be operated.

When the HPB (or personal computer) is connected, you can reset from emergency stop

by the HPB (or personal computer) operation.

The emergency stop input in the DeviceNet unit is only controlled by the software

and does not constitute a complete safety circuit. So installing a hardware inter-

lock circuit for emergency stop utilizing the emergency stop input pins installed

on the parallel I/O of the controller is strongly recommended.