IAI America ASEL - Manual (Page 284)

Part 2 Programs
Chapter 8 Real-T
ime Multi-T
asking
262
Part 2 Programs
4. Release of Emergency Stop
Default factory settings of parameters
“Other parameter No. 10, Emergency-stop recovery type” = 0
“Other parameter No. 11, Safety-gate open recovery type” = 0
“Other parameter No. 12, Recognition type during automatic operation” = 0
An emergency stop is actuated by turning the emergency-stop contact b input to OFF, and released
by turning the input to ON.
(1) Flow chart (2) Timing chart
The selected program is executed from step 1.
 The internal conditions of the controller during an emergency stop are as follows:
x Programs Aborted (excluding “I/O processing programs
operation when program is aborted”)
x Output ports, local flags, local
variables
Cleared
x Global flags, global variables Retained
If the peripherals are to be controlled by program, create a management program beforehand and use
the program to control the peripherals. Alternatively, start (EXPG) or abort (ABPG) other programs in
accordance with the status of each general-purpose input.
Emergency stop is
actuated
Emergency stop
released?
Alarm
reset?
Ready
output ON?
Program number output
External start (000) input
NO
NO
NO
YES
YES
YES
Emergency-stop input
(contact b)
Ready output
Emergency-stop output
Teaching-pendant restart
input
External start input
General-purpose output
Emergency-stop release timing on ASEL Controller
0
0
0
0
0
0