IAI RoboNet Operation Manual page 304

[2] Setup the necessary items
* Setting items may decrease depending on the versions of ROBONET Gateway Parameter Setting Tool and the
firmware.
(i) Enable Operation ... It is allowed to select an appropriate controller control method when the enable function is
(enable function effective = the user setting switch (SW1) on the GateWayR unit is ON)
Selected Items
Shutdown control (factory setting)
Servo control
(ii) Latch the condition after servo OFF when ERR_T is occurred ...
Caution
Because there is a high risk of ERR-T occurrence at the unstable condition of the system start, start it with the control
signal "RTE" set to 1. (Refer to 3.7.2.)
Set "RTE" to 0 after confirming that the status signal "RUN" becomes 1.
(iii) Servo OFF when ERR_C is occurred ...
(iv) Speed setting unit (for direct numerical specification (positioning) mode only) ...
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effective.
The actuator decelerates to a stop, the servo turns OFF, and then
the drive source is cut OFF.
The actuator decelerates to a stop, and then the servo turns OFF.
When ERR-T is occurred, the user is able to select whether all the controllers turn the servo
OFF, and the control commands are to be ineffective.
The factory setting is ineffective. (Firmware version 000E to)
: At the start of the system
When ERR-C is occurred, the user is able to select whether all the controllers should turn the
servo OFF.
The factory setting is effective. (Firmware version 000C to)
The user is able to set the speed setting unit of the axes that are set to the direct numerical
specification (position) mode from either 1.0 mm/sec or 0.1 mm/sec.
The factory setting is 1.0 mm/sec. (Firmware version 000C to)
Part 2 Startup Chapter
Operation Details
(i)
(ii)
(iii)
(iv)
(v)