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4.2.12 Robot Warning (Output)
(1) Function
The signal outputs to the external device that a minor error has occurred
with an I/O command or during servo processing.
Caution: The signal will not be output in case of a minor error, such as
a program selection error, caused by the operation of the
teach pendant or operating panel.
(2) Terminal number
No. 15 of connector CN10.
(3) Usage
The signal is used to light the robot warning indicator lamp of an
external operating panel.
The signal is used to help the PLC clear an error in response to a
ROBOT WARNING signal.
(4) ON conditions
As shown below, the signal will be turned ON when a minor error occurs
during I/O processing, execution of the program or servo processing,
irrespective of the operation mode.
(5) OFF conditions
As shown below, the robot-warning signal will be turned OFF under the
following conditions.
When CLEAR ROBOT FAILURE and OPERATION PREPARATION
START signals are input from the external device and the existing error
is cleared.
When the existing error is cleared by operating the OK or Cancel key
of the operating panel or the teach pendant.
Robot warning
⋅ When a CLEAR ROBOT FAILURE command is inputted from the
external device and the existing error is cleared.
⋅ When the existing error is cleared by operating the OK or Cancel key
of the operating panel or teach pendant.
⋅ When a slight error occurs during I/O processing, execution of the
program or servo processing.
Robot Warning Output