Clear the STO State

Robot controller has a "Safe torque off (STO)" as an safety function. "Safe torque off (STO)" is a function to turn the motor power off immediately when a specific error occurs.
A motor power-off state caused by this function is called an "STO state".

To clear the STO state, you must perform specific operation.

How to Clear the STO State

There are following four ways to clear the STO state from the smart TP.

• From PacScript
• With an enabling switch
• With an STO [Clear] button
• With an I/O Command

From PacScript

From a [Program] menu, execute "ResetStoState" command.
Also, PacScript can get the STO state of the robot controller with "StoState" command.

With an Enabling Switch

When an error occurs, if the error is subtle, tapping the enabling switch on the smart TP will clear the STO state.

With an STO [Clear] Button

Tapping a [Shortcut] button will display a [Shortcut] menu.
Tapping an STO [Clear] button on the left bottom of the menu will clear the STO state.

With an I/O Command

Executing "Mode Switching (Operation Preparation) (0111)" command in Auto mode will clear the STO state.