80
4.2.11 Robot Failure (Output)
(1) Function
The signal outputs to the external device that a problem, such as a servo
error and a program error, occurs with the robot.
(2) Terminal number
No. 3 of connector CN10.
(3) Usage
The signal is used to light the robot failure indicator lamp of an external
operating panel.
The signal is used to help the PLC clear an error in response to a
ROBOT FAILURE signal.
(4) ON conditions
As shown below, the signal will be turned ON under the following
conditions.
When an error, such as a servo error, a program error and undefined
program, occurs at the start of the program and during execution of the
program.
When an error occurs during execution of the program in internal
operation by the operating panel or the teach pendant or in external
operation by the PLC.
When an error, such as undefined program, occurs at the start of the
program only in external operation.
Caution: The signal will no t be output when an error, such as a
program input error occurs in manual operation, except when
a servo error occurs in manual operation. For further
information, see "ERROR CODE TABLES."
(5) OFF conditions
As shown below, the signal will be turned OFF under the following
conditions.
When a CLEAR ROBOT FAILURE command is input from the external
device and the existing error is cleared.
When the existing error is cleared by operating the Cancel key of the
operating panel or the teach pendant.
ƒoƒŠƒeƒB[ƒGƒ‰[A
uCancelvƒL[‘€ì
Robot Failure Output
⋅Program number, parity error, or an undefined program number at
external start.
⋅The robot errors during automatic operation (both internal operation and
external operation).
⋅When CLEAR ROBOT FAILURE and OPERATION PREPARATION
START signals are input.
⋅When the Cancel key of the operating panel or the teach pendant is
operated.
Robot failure