Alarm/Warning Information Reading (?Alm, ?Warn - Yamaha TS-P User Manual

Yamaha single-axis robot controller
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3. Communication command description

Alarm/warning information reading (?ALM, ?WARN)

1
Format
Meaning
Function
Reads the alarm/warning information currently occurring.
2
For details regarding the alarm and warning numbers and their contents, see Chapter 6
"Troubleshooting" of the Controller Guide.
TIP
Setting
3
<Alarm/warning occurrence number> : 1 to 32
<Node number>
If multiple alarms and warnings occur, the alarm/warning occurrence numbers are
sequentially assigned to 1, 2, and so on from a smaller alarm number.
Example) If overload (86) and emergency stop (C1) occur, the alarm occurrence numbers
NOTE
Communication example
Transmission
@?ALM1.1 c/r l/f
@?WARN1.1 c/r l/f
C-20
Communication Command Guide
@?ALM<alarm occurrence number>[.<node number>] c/r l/f
@?WARN<warning occurrence number>[.<node number>] c/r l/f
Reads the alarm/warning information currently occurring.
: 1 to 16 (This setting can be omitted when the
same command is sent to all the controllers
connected with the host device, as by daisy chain
connection.)
are assigned as follows.
Alarm occurrence number 1 = 86 (overload)
Alarm occurrence number 2 = C1 (emergency stop)
Response
ALM1.1=86 c/r l/f
OK.1 c/r l/f
OK.1 c/r l/f
Reads the alarm information.
Receives the data. Alarm number 86: Overload
error is occurring.
Normal end
Reads the warning information.
Normal end (No warning occurs.)

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