Alarm/Error; Axis Operation; Playback/Fwd/Bwd/Test Operation; Notes - YASKAWA DX100 Instructions Manual

DX100
1.4

1.4.1 Axis Operation

1.4.2 PLAYBACK/FWD/BWD/TEST Operation

1.5
1 Arm Interfere Check Function
1.4

Alarm/Error

Alarm/Error
If the arm (tool) interference occurs during the axis operation, "ARM
(TOOL) INTERFERE" is shown in the message line and the manipulators
stop.
In this case, perform the axis operation in the direction with no arm
interfere. If the axis operation is not allowed in the direction with no arm
interfere in this case, temporally invalidate the arm interfere check as
described in chapter 1.2.2 "Release of Arm Interfere Check" at page 1-3.
If the arm (tool) interfere occurs in PLAYBACK/FWD/BWD/TEST
operation, "Alarm 4620 ARM (TOOL) INTERFERE" is issued and the
manipulators stop.
In this case, perform the axis operation to move to the position with no
arm interfere.
If the arm interfere occurs during playback, review the job to prevent the
arm interfere.

Notes

(1) About accuracy of arm (tool) interfere check
The robot accuracy has an error due to the calibration accuracy
between robots or a delay in the servo system.
Therefore, set the radius of the tool interfere file with an allowance.
(2) Determine the setting value of the TOOL INTERFERE file in
accordance with the drawing.
(3) The arm interfere check function may not be used depending on
the robot type.
Contact a YASKAWA representative nearest you.
1-5
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