Yamaha SRCP manual Alarm and Countermeasures, Alarm specifications, If an alarm is issued

13-2 Alarm and Countermeasures

13-2 Alarm and Countermeasures

If the READY signal is turned off except in cases of emergency stop, then an alarm has probably been issued. The status LED on the front panel of the controller lights up in red.

13-2-1 Alarm specifications

■If an alarm is issued:

If an alarm is issued, keep the power turned on and connect the TPB or set the POPCOM on-line to check the contents of the alarm. An alarm message appears on the screen.

The transmission format for alarm messages is as follows.

<alarm number> : <alarm message> c/r l/f

The <alarm number> is displayed in two digits, so a one-digit number is prefixed with 0 like 01. The <alarm message> is displayed in a 17 character string length. (Spaces are added until the message contains 17 characters.) Therefore, an message including c/r and l/f consists of 22 char- acters.

■To cancel the alarm:

To cancel the alarm, turn the power off and after first eliminating the problem, turn it back on again.

If an alarm is still issued while the power is turned on, then try turning the power on while the robot is in emergency stop. No alarm detection is performed with this method, so that the data can be checked, corrected or initialized. Normal alarm detection is performed when the servo is turned on after cancelling emergency stop.

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TROUBLESHOOTING

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