Denso RC5 - Manual (Page 115)

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(4) Example of program start signal (rise) ON and (fall) OFF timing
Q Q Q Q Example of program start signal rise (ON) timing
The figure below shows how to make the program start signal rise with
robot system outputs (external mode output and single-cycle end
output).
Robot status
Wait for start
Single-cycle
operation Next cycle
operation
External mode ON
(output) OFF
1-cycle end ON
(output) OFF
Program start ON (shorted)
signal (input) OFF (open)
200 ms. or
more required
Example of Program Start Signal Rise Timing
Caution: The program start signal for the first cycle rises as soon as
the external mode becomes valid and the conditions of the
peripheral devices are met. The program start signal for
subsequent cycles rises after output of a single-cycle end
signal.