ROBOTIQ PALLETIZING SOLUTION AX Series Instruction Manual page 104

Error message:"Please use the
Safeguard reset before starting the
linear axis"
The robot was brought to a protective
stop while palletizing
Power off and power on the Linear Axis
Controller.
The cables of the Linear Axis are not
properly connected to the UR controller.
The "Safety configuration" and/or "System
Emergency Stopped" functions were not
configured correctly.
No safeguard measure is being used, but
none have been bypassed.
A safeguarding OSSD is connected
directly to the robot.
The emergency output from the UR
controller is set to OSSD signal.
(e-Series only)
A joint limit has been exceeded.
Power off and power on the Linear
Axis Controller.
Inspect the connections. Please refer
to the Safety Connections section.
Verify that the "Safeguard reset" and
"System Emergency Stopped"
functions are configured correctly.
Installation tab > Safety > I/O
Even if the safeguard function is not
used, both the safeguard wire and
reset wire from the Linear Axis should
be connected to a 24V terminal block
in the UR controller (bypass).
Please refer to the Safety
Connections section for more
information.
OSSD signals are not compatible with
the Linear Axis (even if the e-Series
UR controller can be compatible).
A special relay is required to convert
OSSD signals to standard signals.
Verify that the OSSD checkbox for the
"System Emergency Stopped" output
is unticked. (Installation tab > Safety >
I/O)
OSSD signals are not compatible with
the Linear Axis.
Verify that the joint speed and
l
position limit have been configured
correctly. Please refer to the Robot
Configurations section for more
information.
Decrease the value of the
l
acceleration parameter in the
Palletizer node.