A SERVICE OF

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3-19
3
I/O INTERFACE
3-6-4 When emergency stop is input
READY
END
BUSY
EMG
Emergency stop
5ms or less
1ms or less
Dedicated
command
The READY signal turns off. The BUSY signal also turns off while a dedicated command is
being executed. The END signal remains unchanged.
To enable robot operation, cancel emergency stop to turn on the READY signal, then input the
servo recovery command (SERVO).
3-6-5 When alarm is issued
READY
END
BUSY
Alarm
Dedicated
command
5ms or less
1ms or less
The READY, BUSY and END signals all turn off.
Correct the problem while referring to "13-2 Alarm and Countermeasures".
3-6 I/O Control Timing Charts