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3.2.7 Robot Failure (Output)
(1) Function
The signal outputs to the external device that a problem (such as a servo
error or 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 external operating panel error
indicator lamp of an.
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 or program
undefined, 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.
Caution: The signal will not be outputted 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 the "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 inputted and the
existing error is cleared.
When the existing error is cleared by operating the OK or Cancel key
on the operating panel or the teach pendant.
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⋅ When a CLEAR ROBOT FAILURE command is inputted.
⋅ When the OK or Cancel key of the operating panel or teach
pendant is operated.
Robot Failure Output
Robot failure
⋅ Program number, parity error, or undefined program number, at
external start.
⋅ Robot failure during automatic operation (both internal operation
and external operation)