YASKAWA Motoman UP6 Instructions Manual page 393

10.2.2
Special Alarm Display
(1) Sub Data
Sub data such as data for the axis where the alarm occurred, may also be displayed for
some alarms.
• Decimal data
Without signs: 0 to 65535
With signs: -32768 to 32767
• Binary data
The alarm occurrence data becomes "1."
With 8 bits: 0000_0001
With 16 bits: 00000001_00000001
• Axis data
The axis where the alarm occurred is highlighted.
With robot axis: Robots
With base axis: Robots
With station axis: Stations
• XYZ coordinate data
The coordinates when the alarm occurred are highlighted.
[ X Y Z ]
[ X Y Z Tx Ty Tz ]
• 123 data
The data for the alarm that occurred is highlighted.
[ 1 2 3 ]
• Control group data
The control group where the alarm occurred is highlighted.
[ R1 R2 S1 S2 S3 ]
(2) Multiple Servopack System
In a system using more than one Servopack, the number of the Servopack where the
alarm occurred is also displayed. The S1 switch of the WRCA01 board shows the Servo-
pack number.
SV#1: Servopack 1 (WRCA01 board S1 switch: 0)
SV#2: Servopack 2 (WRCA01 board S1 switch: 1)
SV#3: Servopack 3 (WRCA01 board S1 switch: 2)
SV#4: Servopack 4 (WRCA01 board S1 switch: 3)
SV#5: Servopack 5 (WRCA01 board S1 switch: 4)
SV#6: Servopack 6 (WRCA01 board S1 switch: 5)
[ S L U R B T]
1
[ 1 2 3]
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[ 1 1 2 3] to
10-3
10.2 Alarm Display
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