Alarm Occurrence And Clearing - Yamaha TS-S User Manual

Yamaha single-axis robot controller ts series
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1.2
Alarm occurrence and clearing
The operation timing chart from "alarm occurrence" to "alarm clear" is shown below.
"alarm occurrence" to "alarm clear"
Point No. select
(PIN0 to PIN7)
Point No. output
(POUT0 to POUT7)
Alarm (/ALM)
Reset (RESET)
Servo ON (SERVO)
Servo status (SRV-S)
Start (START)
Operation-in-progress
(BUSY)
Operation end (END)
1: /ALM switches OFF if an error occurs during operation. BUSY and SRV-S also switch OFF at this time, and the alarm
No. is output. END remains OFF.
2: The SERVO input switches OFF.
3: The RESET input switches ON after the alarm cause has been eliminated.
4: /ALM and END switch ON.
5: The RESET input switches OFF, and the SERVO input switches ON.
6: SRV-S switches ON and the START input is enabled.
*1 : RESET is enabled after the alarm cause has been eliminated. Although some alarms can be cleared simply by
eliminating the cause and executing a RESET, others require a restart. For alarm details, see Chapter 6
"Troubleshooting".
*2 : The No. output at alarm occurrences can be enabled/disabled by the K30 (Alarm No. output function) I/O
parameter setting. For details, see section 4.2.2, "I/O Parameters", in Chapter 3.
Setting
00h
00h
Setting
00h
*2
Alarm No.
Alarm No.
1
4
Error occurrence
Error occurrence
3
5
*1
2
6
5
23502-M0-00
5-5

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