Alarms, Causes And Actions - IAI RoboNet Operation Manual

1.3.2 Alarms, Causes and Actions

(1) Operation-cancellation alarms (These alarms can be reset with the reset signal.)
Code Alarm name
080 Movement
command with
servo OFF
083 Numerical
command before
home return
084 Movement
command during
home return
085 Position number
error during
movement
090 Software reset
with servo ON
091 Position number
error during
teaching
092 PWRT signal
detection during
movement
093 PWRT signal
detection before
home return
352
Cause: A movement command was issued as a numerical command when the servo
was OFF.
Action: Confirm that the servo is ON (SV or PEND is "1") before issuing a movement
command.
Cause: A numerical command involving an absolute position was issued before home
return was completed. (Simple direct or direct numerical command mode)
Action: Perform home return and confirm a completion signal (HEND) before issuing a
movement command.
Cause: A movement command was issued as a numerical command while home return
was in progress.
Action: Perform home return and confirm a completion signal (HEND) before issuing a
movement command.
Cause: A position number not yet registered in the position table was specified in the
positioner mode.
Action: Check the position table again.
Cause: A software reset command was received when the servo was ON.
Action: Send a software reset command to the controller after confirming that the servo
is OFF (SV is "0").
Cause: An invalid position number was specified when writing the current position via
teaching operation.
Action: 768 position numbers from 0 to 767 can be used with the RACON and RPCON.
Use position numbers within this range.
Cause: The current position write signal (PWRT) was input during jogging when
teaching operation was performed in the positioner mode.
Action: Input the PWRT signal after confirming that no jog button is pressed and that
the axis is stopped (MOVE signal is "0").
Cause: The current position write signal (PWRT) was input before home return was
completed when teaching operation was performed in the positioner mode.
Action: Input the HOME signal first to perform home return and confirm the completion
of home return (HEND signal is "1") before inputting the PWRT signal.
Part 3 Maintenance
Cause/action