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3.2.8 Robot Warning (Output)
(1) Function
The signal outputs to the external device that a minor error occurs with an
I/O command or during servo processing.
Caution: The signal will not be outputted if a minor error, such as a
program selection error occurs by the operation of the teach
pendant or operating panel.
(2) Terminal number
No.9 of connector CN10.
(3) Usage
⋅ The signal is used to light the robot warning indicator lamp of the external
operating panel.
⋅ The signal is used to help the PLC clear an error in response to a
ROBOT WARNING signal.
(4) ON condition
As shown below, the signal will be turned ON if 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 a CLEAR ROBOT WARNING command is inputted from the
external device and the existing error is cleared.
⋅ When operating the OK or Cancel key on the operating panel or the
teach pendant clears the existing error.
Robot warning
⋅ When a CLEAR ROBOT WARNING command is inputted from an
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