Yamaha RCX240 User Manual page 525

(2) Dedicated output status
Dedicated output status items described below in *1 to *3 show the following contents.
*1 ... CPU stop
• Turn the power ON again to reset.
DO 01a (CPU OK)
DO 02a (SERVO ON)
DO 03a (ALARM)
*2 ... Driver stop
• Turn the power ON again to reset.
DO 02a (SERVO ON)
DO 03a (ALARM)
*3 ... Ser vo stop
• Turn the power ON again in "UTILITY" mode to reset.
DO 02a (SERVO ON)
DO 03a (ALARM)
(3) "Alarm message" that occurred in electric gripper
When an alarm message of error group No. 26 (Alarm messages (major errors) that occurred in
electrical gripper) appears, the electric gripper enters the following status.
• Origin incomplete
• Servo OFF
To recover from the alarm state, do the following:
1. Eliminate the cause of the alarm.
2. Reset the emergency stop flag.
3. Turn all axes' servo on.
4. Perform return-to-origin for the electric gripper where the alarm occurred.
For more details, refer to the YAMAHA electric gripper YRG series user's manual.
= OFF
= OFF
= ON
= OFF
= ON
= OFF
= ON
1. Error messages
TROUBLESHOOTING
A
A-3