Page 93 of 130
DOC No.
：
T202001006
servo is enabled. Then press [PROGRAM START] button
, and the program starts running
automatically.
9.4.2.2 Modifying Speed in Play Mode
When the program is executed in PLAY mode, [SPEED CONTROL] buttons are invalid and
the speed value cannot be modified. If speed adjustment is required in this mode, first press
[PROGRAM PAUSE] button
to pause the program. Then change the speed value and
press [PROGRAM START] button to resume the program execution.
9.4.2.3 Stop and Restart
Program Pause Operation
In PLAY mode, if the program pause operation is executed, the program will pause at the
current line, and the moving manipulator will slow down and stop.
There are two ways to pause the program:
1)
Press [PROGRAM PAUSE] button on the programming pendant.
2)
Use the external input signal. The program pause operation will be executed when the
input
“
EXT-HD
”
of the dedicated IO board is valid.
Emergency Stop Operation
If the emergency stop operation is executed, the servo power will be turned OFF and the
manipulator will stop immediately.
There are three methods for executing emergency stop operation:
1)
Press [EMERGENCY STOP] button on the programming pendant.
2)
Press [EMERGENCY STOP] button on the cabinet.
3)
Use the external input signal. The emergency stop operation will be executed when the
input
“
EXT-SP
”
of the dedicated IO board is invalid.
After an emergency stop, first correct the cause of the alarm and then reset [EMERGENCY
STOP] button. After that, the alarm reset and program start operations for programming pendant
