10-6-1 Saving controller data to a memory card ................................................................................................... 10-14

10-6-2 Loading data from a memory card ............................................................................................................. 10-16

10-6-3 Formatting a memory card ........................................................................................................................ 10-18

10-6-4 Viewing the ID number for memory card data .......................................................................................... 10-19

10-7 Duty (load factor) monitor................................................................................................. 10-20

10-7-1 Measuring the duty (load factor) ............................................................................................................... 10-22

10-8 Using the internal flash ROM ............................................................................................. 10-23

10-8-1 Saving the parameter data onto the flash ROM ......................................................................................... 10-24

10-8-2 Manually loading the data from flash ROM ............................................................................................... 10-26

10-8-3 Initializing the flash ROM data .................................................................................................................. 10-28

Chapter 11 COMMUNICATION WITH PC ........................................................................... 11-1

11-1 Communication Parameter Specifications ............................................................................ 11-2

11-2 Communication Cable Specifications ................................................................................... 11-3

11-2-1 Connecting to the computer with a 25-pin D-sub connector ...................................................................... 11-3

11-2-2 Connecting to the computer with a 9-pin D-sub connector ........................................................................ 11-3

11-3 Communication Command Specifications ........................................................................... 11-4

11-4 Communication Command List ............................................................................................ 11-5

11-5 Communication Command Description ............................................................................... 11-8

11-5-1 Robot movements ........................................................................................................................................ 11-8

11-5-2 Data handling ............................................................................................................................................ 11-17

11-5-3 Utilities ...................................................................................................................................................... 11-29

Chapter 12 MESSAGE TABLES ............................................................................................... 12-1

12-1 Error Messages ..................................................................................................................... 12-2

12-1-1 Error message specifications ........................................................................................................................ 12-2

12-1-2 Command error message ............................................................................................................................. 12-2

12-1-3 Operation error message ............................................................................................................................. 12-3

12-1-4 Program error message ................................................................................................................................ 12-4

12-1-5 System error message .................................................................................................................................. 12-5

12-1-6 Multi-task error message ............................................................................................................................. 12-5

12-2 TPB Error Messages .............................................................................................................. 12-6

12-3 Stop Messages ...................................................................................................................... 12-7

12-3-1 Message specifications ................................................................................................................................ 12-7

12-3-2 Stop messages .............................................................................................................................................. 12-7

12-4 Displaying the Error History ................................................................................................ 12-8

Chapter 13 TROUBLESHOOTING ........................................................................................ 13-1

13-1 If A Trouble Occurs .............................................................................................................. 13-2

13-2 Alarm and Countermeasures ................................................................................................ 13-3

13-2-1 Alarm specifications .................................................................................................................................... 13-3

13-2-2 Alarm message list ....................................................................................................................................... 13-4

13-3 Troubleshooting for Specific Symptom ................................................................................. 13-7

13-3-1 Relating to the robot movement .................................................................................................................. 13-7

13-3-2 Relating to the I/O ...................................................................................................................................... 13-9

13-3-3 Other ......................................................................................................................................................... 13-10

13-4 Displaying the Alarm History ............................................................................................. 13-11

Chapter 14 MAINTENANCE AND WARRANTY .................................................................... 14-1

14-1 Warranty .............................................................................................................................. 14-2

14-1-1 Warranty description ................................................................................................................................... 14-2

14-1-2 Warranty Period .......................................................................................................................................... 14-2

14-1-3 Exceptions to the Warranty ......................................................................................................................... 14-2

14-2 Replacing the System Backup Battery .................................................................................. 14-3

14-3 Updating the System ............................................................................................................ 14-4

Table of Contents